From 8a5588fd179fcf54d597f99a819e94d402dd23f5 Mon Sep 17 00:00:00 2001
From: klaxalk <klaxalk@users.noreply.github.com>
Date: Sat, 9 Dec 2023 08:13:53 +0000
Subject: [PATCH] deploy: 11301872a1f9574cea1adb650c5d71968cf6e1a4

---
 .nojekyll                                     |    0
 annotated.html                                |  202 ++
 annotated_dup.js                              |   21 +
 attitude__converter_8h.html                   |  208 ++
 attitude__converter_8h.js                     |   19 +
 attitude__converter_8h__dep__incl.map         |    4 +
 attitude__converter_8h__dep__incl.md5         |    1 +
 attitude__converter_8h__dep__incl.png         |  Bin 0 -> 5804 bytes
 attitude__converter_8h__incl.map              |   16 +
 attitude__converter_8h__incl.md5              |    1 +
 attitude__converter_8h__incl.png              |  Bin 0 -> 51351 bytes
 attitude__converter_8h_source.html            |  397 +++
 batch__visualizer_8h.html                     |  163 ++
 batch__visualizer_8h.js                       |    5 +
 batch__visualizer_8h__incl.map                |   16 +
 batch__visualizer_8h__incl.md5                |    1 +
 batch__visualizer_8h__incl.png                |  Bin 0 -> 44941 bytes
 batch__visualizer_8h_source.html              |  227 ++
 bc_s.png                                      |  Bin 0 -> 676 bytes
 bdwn.png                                      |  Bin 0 -> 147 bytes
 citelist.html                                 |  124 +
 classDynamicPublisher_1_1impl-members.html    |  107 +
 classDynamicPublisher_1_1impl.html            |  120 +
 classDynamicPublisher_1_1impl.js              |    6 +
 classSubObject-members.html                   |  106 +
 classSubObject.html                           |  121 +
 classSubObject.js                             |    5 +
 classThreadTimer_1_1Impl-members.html         |  114 +
 classThreadTimer_1_1Impl.html                 |  144 +
 classThreadTimer_1_1Impl.js                   |   13 +
 classVectorConverterTest.html                 |  127 +
 classVectorConverterTest__coll__graph.map     |    4 +
 classVectorConverterTest__coll__graph.md5     |    1 +
 classVectorConverterTest__coll__graph.png     |  Bin 0 -> 3651 bytes
 classVectorConverterTest__inherit__graph.map  |    4 +
 classVectorConverterTest__inherit__graph.md5  |    1 +
 classVectorConverterTest__inherit__graph.png  |  Bin 0 -> 3651 bytes
 classes.html                                  |  265 ++
 classmrs__lib_1_1AtomicScopeFlag-members.html |  106 +
 classmrs__lib_1_1AtomicScopeFlag.html         |  172 ++
 classmrs__lib_1_1AtomicScopeFlag.js           |    5 +
 ...mrs__lib_1_1AttitudeConverter-members.html |  137 +
 classmrs__lib_1_1AttitudeConverter.html       | 1026 +++++++
 classmrs__lib_1_1AttitudeConverter.js         |   41 +
 classmrs__lib_1_1BatchVisualizer-members.html |  125 +
 classmrs__lib_1_1BatchVisualizer.html         |  984 +++++++
 classmrs__lib_1_1BatchVisualizer.js           |   24 +
 classmrs__lib_1_1DKF-members.html             |  141 +
 classmrs__lib_1_1DKF.html                     |  532 ++++
 classmrs__lib_1_1DKF.js                       |   22 +
 classmrs__lib_1_1DKF__coll__graph.map         |    5 +
 classmrs__lib_1_1DKF__coll__graph.md5         |    1 +
 classmrs__lib_1_1DKF__coll__graph.png         |  Bin 0 -> 6620 bytes
 classmrs__lib_1_1DKF__inherit__graph.map      |    5 +
 classmrs__lib_1_1DKF__inherit__graph.md5      |    1 +
 classmrs__lib_1_1DKF__inherit__graph.png      |  Bin 0 -> 6620 bytes
 ...smrs__lib_1_1DynamicPublisher-members.html |  107 +
 classmrs__lib_1_1DynamicPublisher.html        |  213 ++
 classmrs__lib_1_1DynamicPublisher.js          |    6 +
 ..._lib_1_1DynamicReconfigureMgr-members.html |  113 +
 classmrs__lib_1_1DynamicReconfigureMgr.html   |  150 +
 classmrs__lib_1_1DynamicReconfigureMgr.js     |   12 +
 classmrs__lib_1_1EulerAttitude-members.html   |  108 +
 classmrs__lib_1_1EulerAttitude.html           |  241 ++
 classmrs__lib_1_1EulerAttitude.js             |    7 +
 classmrs__lib_1_1IirFilter-members.html       |  106 +
 classmrs__lib_1_1IirFilter.html               |  119 +
 classmrs__lib_1_1IirFilter.js                 |    5 +
 classmrs__lib_1_1ImagePublisher-members.html  |  106 +
 classmrs__lib_1_1ImagePublisher.html          |  119 +
 classmrs__lib_1_1ImagePublisher.js            |    5 +
 classmrs__lib_1_1JLKF-members.html            |  131 +
 classmrs__lib_1_1JLKF.html                    |  477 +++
 classmrs__lib_1_1JLKF.js                      |   25 +
 classmrs__lib_1_1JLKF__coll__graph.map        |    4 +
 classmrs__lib_1_1JLKF__coll__graph.md5        |    1 +
 classmrs__lib_1_1JLKF__coll__graph.png        |  Bin 0 -> 7408 bytes
 classmrs__lib_1_1JLKF__inherit__graph.map     |    4 +
 classmrs__lib_1_1JLKF__inherit__graph.md5     |    1 +
 classmrs__lib_1_1JLKF__inherit__graph.png     |  Bin 0 -> 7408 bytes
 classmrs__lib_1_1KalmanFilter-members.html    |  115 +
 classmrs__lib_1_1KalmanFilter.html            |  327 +++
 classmrs__lib_1_1KalmanFilter.js              |   12 +
 ..._lib_1_1KalmanFilterAloamGarm-members.html |  115 +
 classmrs__lib_1_1KalmanFilterAloamGarm.html   |  318 ++
 classmrs__lib_1_1KalmanFilterAloamGarm.js     |   12 +
 ...1KalmanFilterAloamGarm__inherit__graph.map |    4 +
 ...1KalmanFilterAloamGarm__inherit__graph.md5 |    1 +
 ...1KalmanFilterAloamGarm__inherit__graph.png |  Bin 0 -> 6393 bytes
 ...s__lib_1_1KalmanFilter__inherit__graph.map |   13 +
 ...s__lib_1_1KalmanFilter__inherit__graph.md5 |    1 +
 ...s__lib_1_1KalmanFilter__inherit__graph.png |  Bin 0 -> 37414 bytes
 classmrs__lib_1_1LKF-members.html             |  134 +
 classmrs__lib_1_1LKF.html                     |  541 ++++
 classmrs__lib_1_1LKF.js                       |   25 +
 classmrs__lib_1_1LKF__MRS__odom-members.html  |  143 +
 classmrs__lib_1_1LKF__MRS__odom.html          |  370 +++
 classmrs__lib_1_1LKF__MRS__odom.js            |   23 +
 ...rs__lib_1_1LKF__MRS__odom__coll__graph.map |    5 +
 ...rs__lib_1_1LKF__MRS__odom__coll__graph.md5 |    1 +
 ...rs__lib_1_1LKF__MRS__odom__coll__graph.png |  Bin 0 -> 7144 bytes
 ..._lib_1_1LKF__MRS__odom__inherit__graph.map |    5 +
 ..._lib_1_1LKF__MRS__odom__inherit__graph.md5 |    1 +
 ..._lib_1_1LKF__MRS__odom__inherit__graph.png |  Bin 0 -> 7144 bytes
 classmrs__lib_1_1LKF__coll__graph.map         |    4 +
 classmrs__lib_1_1LKF__coll__graph.md5         |    1 +
 classmrs__lib_1_1LKF__coll__graph.png         |  Bin 0 -> 5902 bytes
 classmrs__lib_1_1LKF__inherit__graph.map      |    7 +
 classmrs__lib_1_1LKF__inherit__graph.md5      |    1 +
 classmrs__lib_1_1LKF__inherit__graph.png      |  Bin 0 -> 17709 bytes
 classmrs__lib_1_1MRSTimer-members.html        |  115 +
 classmrs__lib_1_1MRSTimer.html                |  244 ++
 classmrs__lib_1_1MRSTimer.js                  |   14 +
 classmrs__lib_1_1MRSTimer__inherit__graph.map |    5 +
 classmrs__lib_1_1MRSTimer__inherit__graph.md5 |    1 +
 classmrs__lib_1_1MRSTimer__inherit__graph.png |  Bin 0 -> 5845 bytes
 classmrs__lib_1_1MedianFilter-members.html    |  121 +
 classmrs__lib_1_1MedianFilter.html            |  628 ++++
 classmrs__lib_1_1MedianFilter.js              |   20 +
 classmrs__lib_1_1NCLKF-members.html           |  138 +
 classmrs__lib_1_1NCLKF.html                   |  487 ++++
 classmrs__lib_1_1NCLKF.js                     |   19 +
 classmrs__lib_1_1NCLKF__coll__graph.map       |    5 +
 classmrs__lib_1_1NCLKF__coll__graph.md5       |    1 +
 classmrs__lib_1_1NCLKF__coll__graph.png       |  Bin 0 -> 9084 bytes
 classmrs__lib_1_1NCLKF__inherit__graph.map    |    6 +
 classmrs__lib_1_1NCLKF__inherit__graph.md5    |    1 +
 classmrs__lib_1_1NCLKF__inherit__graph.png    |  Bin 0 -> 12568 bytes
 classmrs__lib_1_1NCLKF__partial-members.html  |  145 +
 classmrs__lib_1_1NCLKF__partial.html          |  789 +++++
 classmrs__lib_1_1NCLKF__partial.js            |   22 +
 ...rs__lib_1_1NCLKF__partial__coll__graph.map |    6 +
 ...rs__lib_1_1NCLKF__partial__coll__graph.md5 |    1 +
 ...rs__lib_1_1NCLKF__partial__coll__graph.png |  Bin 0 -> 13292 bytes
 ..._lib_1_1NCLKF__partial__inherit__graph.map |    6 +
 ..._lib_1_1NCLKF__partial__inherit__graph.md5 |    1 +
 ..._lib_1_1NCLKF__partial__inherit__graph.png |  Bin 0 -> 13292 bytes
 classmrs__lib_1_1NCUKF-members.html           |  148 +
 classmrs__lib_1_1NCUKF.html                   |  415 +++
 classmrs__lib_1_1NCUKF.js                     |   22 +
 classmrs__lib_1_1NCUKF__coll__graph.map       |    5 +
 classmrs__lib_1_1NCUKF__coll__graph.md5       |    1 +
 classmrs__lib_1_1NCUKF__coll__graph.png       |  Bin 0 -> 9276 bytes
 classmrs__lib_1_1NCUKF__inherit__graph.map    |    5 +
 classmrs__lib_1_1NCUKF__inherit__graph.md5    |    1 +
 classmrs__lib_1_1NCUKF__inherit__graph.png    |  Bin 0 -> 9276 bytes
 classmrs__lib_1_1NotchFilter-members.html     |  106 +
 classmrs__lib_1_1NotchFilter.html             |  119 +
 classmrs__lib_1_1NotchFilter.js               |    5 +
 classmrs__lib_1_1ParamLoader-members.html     |  145 +
 classmrs__lib_1_1ParamLoader.html             | 2339 +++++++++++++++
 classmrs__lib_1_1ParamLoader.js               |   44 +
 classmrs__lib_1_1ParamProvider-members.html   |  108 +
 classmrs__lib_1_1ParamProvider.html           |  289 ++
 classmrs__lib_1_1ParamProvider.js             |    7 +
 classmrs__lib_1_1Polygon-members.html         |  110 +
 classmrs__lib_1_1Polygon.html                 |  141 +
 classmrs__lib_1_1Polygon.js                   |   12 +
 classmrs__lib_1_1Profiler-members.html        |  110 +
 classmrs__lib_1_1Profiler.html                |  310 ++
 classmrs__lib_1_1Profiler.js                  |    9 +
 ...smrs__lib_1_1PublisherHandler-members.html |  113 +
 classmrs__lib_1_1PublisherHandler.html        |  377 +++
 classmrs__lib_1_1PublisherHandler.js          |   12 +
 ...lib_1_1PublisherHandler__impl-members.html |  111 +
 classmrs__lib_1_1PublisherHandler__impl.html  |  314 ++
 classmrs__lib_1_1PublisherHandler__impl.js    |   10 +
 classmrs__lib_1_1RHEIV-members.html           |  130 +
 classmrs__lib_1_1RHEIV.html                   |  773 +++++
 classmrs__lib_1_1RHEIV.js                     |   26 +
 classmrs__lib_1_1ROSTimer-members.html        |  125 +
 classmrs__lib_1_1ROSTimer.html                |  430 +++
 classmrs__lib_1_1ROSTimer.js                  |   17 +
 classmrs__lib_1_1ROSTimer__coll__graph.map    |    4 +
 classmrs__lib_1_1ROSTimer__coll__graph.md5    |    1 +
 classmrs__lib_1_1ROSTimer__coll__graph.png    |  Bin 0 -> 3528 bytes
 classmrs__lib_1_1ROSTimer__inherit__graph.map |    4 +
 classmrs__lib_1_1ROSTimer__inherit__graph.md5 |    1 +
 classmrs__lib_1_1ROSTimer__inherit__graph.png |  Bin 0 -> 3528 bytes
 classmrs__lib_1_1Repredictor-members.html     |  131 +
 classmrs__lib_1_1Repredictor.html             | 1025 +++++++
 classmrs__lib_1_1Repredictor.js               |   30 +
 ...__lib_1_1RepredictorAloamgarm-members.html |  132 +
 classmrs__lib_1_1RepredictorAloamgarm.html    |  383 +++
 classmrs__lib_1_1RepredictorAloamgarm.js      |   13 +
 ...b_1_1RepredictorAloamgarm__coll__graph.map |    4 +
 ...b_1_1RepredictorAloamgarm__coll__graph.md5 |    1 +
 ...b_1_1RepredictorAloamgarm__coll__graph.png |  Bin 0 -> 5946 bytes
 ..._1RepredictorAloamgarm__inherit__graph.map |    4 +
 ..._1RepredictorAloamgarm__inherit__graph.md5 |    1 +
 ..._1RepredictorAloamgarm__inherit__graph.png |  Bin 0 -> 5946 bytes
 classmrs__lib_1_1Routine-members.html         |  108 +
 classmrs__lib_1_1Routine.html                 |  122 +
 classmrs__lib_1_1Routine.js                   |    7 +
 classmrs__lib_1_1SafetyZone-members.html      |  110 +
 classmrs__lib_1_1SafetyZone.html              |  134 +
 classmrs__lib_1_1SafetyZone.js                |   10 +
 classmrs__lib_1_1ScopeTimer-members.html      |  110 +
 classmrs__lib_1_1ScopeTimer.html              |  170 ++
 classmrs__lib_1_1ScopeTimer.js                |   10 +
 ...smrs__lib_1_1ScopeTimerLogger-members.html |  112 +
 classmrs__lib_1_1ScopeTimerLogger.html        |  155 +
 classmrs__lib_1_1ScopeTimerLogger.js          |   11 +
 ...__lib_1_1ServiceClientHandler-members.html |  116 +
 classmrs__lib_1_1ServiceClientHandler.html    |  530 ++++
 classmrs__lib_1_1ServiceClientHandler.js      |   15 +
 ...1_1ServiceClientHandler__impl-members.html |  113 +
 ...rs__lib_1_1ServiceClientHandler__impl.html |  425 +++
 ...smrs__lib_1_1ServiceClientHandler__impl.js |   12 +
 ...smrs__lib_1_1SubscribeHandler-members.html |  132 +
 classmrs__lib_1_1SubscribeHandler.html        | 1069 +++++++
 classmrs__lib_1_1SubscribeHandler.js          |   33 +
 ...b_1_1SubscribeHandler_1_1Impl-members.html |  137 +
 ...smrs__lib_1_1SubscribeHandler_1_1Impl.html |  235 ++
 classmrs__lib_1_1SubscribeHandler_1_1Impl.js  |   36 +
 ...ribeHandler_1_1ImplThreadsafe-members.html |  139 +
 ...1_1SubscribeHandler_1_1ImplThreadsafe.html |  258 ++
 ...b_1_1SubscribeHandler_1_1ImplThreadsafe.js |   18 +
 ...Handler_1_1ImplThreadsafe__coll__graph.map |    4 +
 ...Handler_1_1ImplThreadsafe__coll__graph.md5 |    1 +
 ...Handler_1_1ImplThreadsafe__coll__graph.png |  Bin 0 -> 8548 bytes
 ...dler_1_1ImplThreadsafe__inherit__graph.map |    4 +
 ...dler_1_1ImplThreadsafe__inherit__graph.md5 |    1 +
 ...dler_1_1ImplThreadsafe__inherit__graph.png |  Bin 0 -> 8548 bytes
 ...bscribeHandler_1_1Impl__inherit__graph.map |    4 +
 ...bscribeHandler_1_1Impl__inherit__graph.md5 |    1 +
 ...bscribeHandler_1_1Impl__inherit__graph.png |  Bin 0 -> 8735 bytes
 classmrs__lib_1_1ThreadTimer-members.html     |  123 +
 classmrs__lib_1_1ThreadTimer.html             |  512 ++++
 classmrs__lib_1_1ThreadTimer.js               |   15 +
 classmrs__lib_1_1ThreadTimer__coll__graph.map |    4 +
 classmrs__lib_1_1ThreadTimer__coll__graph.md5 |    1 +
 classmrs__lib_1_1ThreadTimer__coll__graph.png |  Bin 0 -> 3366 bytes
 ...rs__lib_1_1ThreadTimer__inherit__graph.map |    4 +
 ...rs__lib_1_1ThreadTimer__inherit__graph.md5 |    1 +
 ...rs__lib_1_1ThreadTimer__inherit__graph.png |  Bin 0 -> 3366 bytes
 classmrs__lib_1_1TimeoutManager-members.html  |  116 +
 classmrs__lib_1_1TimeoutManager.html          |  192 ++
 classmrs__lib_1_1TimeoutManager.js            |   15 +
 ...__lib_1_1TransformBroadcaster-members.html |  107 +
 classmrs__lib_1_1TransformBroadcaster.html    |  183 ++
 classmrs__lib_1_1TransformBroadcaster.js      |    6 +
 classmrs__lib_1_1Transformer-members.html     |  135 +
 classmrs__lib_1_1Transformer.html             | 1541 ++++++++++
 classmrs__lib_1_1Transformer.js               |   29 +
 classmrs__lib_1_1UKF-members.html             |  145 +
 classmrs__lib_1_1UKF.html                     |  626 ++++
 classmrs__lib_1_1UKF.js                       |   40 +
 classmrs__lib_1_1UKF__coll__graph.map         |    4 +
 classmrs__lib_1_1UKF__coll__graph.md5         |    1 +
 classmrs__lib_1_1UKF__coll__graph.png         |  Bin 0 -> 5988 bytes
 classmrs__lib_1_1UKF__inherit__graph.map      |    5 +
 classmrs__lib_1_1UKF__inherit__graph.md5      |    1 +
 classmrs__lib_1_1UKF__inherit__graph.png      |  Bin 0 -> 9258 bytes
 ...smrs__lib_1_1Vector3Converter-members.html |  111 +
 classmrs__lib_1_1Vector3Converter.html        |  333 +++
 classmrs__lib_1_1Vector3Converter.js          |   10 +
 classmrs__lib_1_1VisualObject-members.html    |  121 +
 classmrs__lib_1_1VisualObject.html            |  164 ++
 classmrs__lib_1_1VisualObject.js              |   20 +
 ...smrs__lib_1_1geometry_1_1Cone-members.html |  114 +
 classmrs__lib_1_1geometry_1_1Cone.html        |  352 +++
 classmrs__lib_1_1geometry_1_1Cone.js          |   13 +
 ...rs__lib_1_1geometry_1_1Cuboid-members.html |  113 +
 classmrs__lib_1_1geometry_1_1Cuboid.html      |  405 +++
 classmrs__lib_1_1geometry_1_1Cuboid.js        |   12 +
 ...__lib_1_1geometry_1_1Cylinder-members.html |  114 +
 classmrs__lib_1_1geometry_1_1Cylinder.html    |  315 ++
 classmrs__lib_1_1geometry_1_1Cylinder.js      |   13 +
 ...s__lib_1_1geometry_1_1Ellipse-members.html |  111 +
 classmrs__lib_1_1geometry_1_1Ellipse.html     |  276 ++
 classmrs__lib_1_1geometry_1_1Ellipse.js       |   10 +
 classmrs__lib_1_1geometry_1_1Ray-members.html |  112 +
 classmrs__lib_1_1geometry_1_1Ray.html         |  341 +++
 classmrs__lib_1_1geometry_1_1Ray.js           |    9 +
 ..._lib_1_1geometry_1_1Rectangle-members.html |  119 +
 classmrs__lib_1_1geometry_1_1Rectangle.html   |  498 ++++
 classmrs__lib_1_1geometry_1_1Rectangle.js     |   18 +
 ...__lib_1_1geometry_1_1Triangle-members.html |  114 +
 classmrs__lib_1_1geometry_1_1Triangle.html    |  356 +++
 classmrs__lib_1_1geometry_1_1Triangle.js      |   13 +
 classmrs__lib_1_1varstepLKF-members.html      |  138 +
 classmrs__lib_1_1varstepLKF.html              |  476 +++
 classmrs__lib_1_1varstepLKF.js                |   18 +
 classmrs__lib_1_1varstepLKF__coll__graph.map  |    5 +
 classmrs__lib_1_1varstepLKF__coll__graph.md5  |    1 +
 classmrs__lib_1_1varstepLKF__coll__graph.png  |  Bin 0 -> 9118 bytes
 ...mrs__lib_1_1varstepLKF__inherit__graph.map |    5 +
 ...mrs__lib_1_1varstepLKF__inherit__graph.md5 |    1 +
 ...mrs__lib_1_1varstepLKF__inherit__graph.png |  Bin 0 -> 9118 bytes
 closed.png                                    |  Bin 0 -> 132 bytes
 conversions_8h_source.html                    |  109 +
 conversions__eigen_8h_source.html             |  139 +
 conversions__opencv_8h_source.html            |  130 +
 cyclic_8h.html                                |  302 ++
 cyclic_8h.js                                  |   11 +
 cyclic_8h__dep__incl.map                      |    4 +
 cyclic_8h__dep__incl.md5                      |    1 +
 cyclic_8h__dep__incl.png                      |  Bin 0 -> 5919 bytes
 cyclic_8h__incl.map                           |    5 +
 cyclic_8h__incl.md5                           |    1 +
 cyclic_8h__incl.png                           |  Bin 0 -> 6145 bytes
 cyclic_8h_source.html                         |  387 +++
 cyclic__example_8cpp.html                     |  161 +
 cyclic__example_8cpp.js                       |    9 +
 cyclic__example_8cpp__incl.map                |    8 +
 cyclic__example_8cpp__incl.md5                |    1 +
 cyclic__example_8cpp__incl.png                |  Bin 0 -> 11822 bytes
 dir_000002_000003.html                        |   98 +
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 dir_137818f07b93cd14b6ce92e51caad2df.html     |  115 +
 dir_137818f07b93cd14b6ce92e51caad2df.js       |    4 +
 dir_137818f07b93cd14b6ce92e51caad2df_dep.map  |    6 +
 dir_137818f07b93cd14b6ce92e51caad2df_dep.md5  |    1 +
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 dir_13e138d54eb8818da29c3992edef070a.html     |  146 +
 dir_13e138d54eb8818da29c3992edef070a.js       |    4 +
 dir_13e138d54eb8818da29c3992edef070a_dep.map  |   33 +
 dir_13e138d54eb8818da29c3992edef070a_dep.md5  |    1 +
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 dir_2489d4eba4efb8e04d8467655cf06abd_dep.map  |    6 +
 dir_2489d4eba4efb8e04d8467655cf06abd_dep.md5  |    1 +
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 dir_313caf1132e152dd9b58bea13a4052ca_dep.map  |    6 +
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 dir_b51f180547f8d0f0e77de7f16caceac3.html     |  201 ++
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 dir_df4ba55d073265bfa281b5d186f7d37a.html     |  115 +
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 dir_e6bb757187894633b963babd59fca1e5.html     |  106 +
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 dir_f003de2bf99885e59674f01f3665fb82.js       |    5 +
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 dir_fbb9f35580885fae6f87a033a53c348d.html     |  102 +
 dkf_8h_source.html                            |  200 ++
 doc.png                                       |  Bin 0 -> 746 bytes
 doxygen.css                                   | 1771 +++++++++++
 doxygen.png                                   |  Bin 0 -> 3779 bytes
 dynamic__publisher_2example_8cpp.html         |  143 +
 dynamic__publisher_2example_8cpp.js           |    4 +
 dynamic__publisher_2example_8cpp__incl.map    |   14 +
 dynamic__publisher_2example_8cpp__incl.md5    |    1 +
 dynamic__publisher_2example_8cpp__incl.png    |  Bin 0 -> 31829 bytes
 dynamic__publisher_8h.html                    |  161 +
 dynamic__publisher_8h__dep__incl.map          |    4 +
 dynamic__publisher_8h__dep__incl.md5          |    1 +
 dynamic__publisher_8h__dep__incl.png          |  Bin 0 -> 5168 bytes
 dynamic__publisher_8h__incl.map               |   11 +
 dynamic__publisher_8h__incl.md5               |    1 +
 dynamic__publisher_8h__incl.png               |  Bin 0 -> 28954 bytes
 dynamic__publisher_8h_source.html             |  138 +
 dynamic__publisher_8hpp_source.html           |  152 +
 dynamic__reconfigure__mgr_8h.html             |  160 +
 dynamic__reconfigure__mgr_8h__incl.map        |   18 +
 dynamic__reconfigure__mgr_8h__incl.md5        |    1 +
 dynamic__reconfigure__mgr_8h__incl.png        |  Bin 0 -> 64585 bytes
 dynamic__reconfigure__mgr_8h_source.html      |  362 +++
 dynamic_publisher_2example_8cpp-example.html  |  147 +
 dynsections.js                                |  120 +
 examples.html                                 |  123 +
 examples.js                                   |   13 +
 files.html                                    |  192 ++
 files_dup.js                                  |    6 +
 folderclosed.png                              |  Bin 0 -> 616 bytes
 folderopen.png                                |  Bin 0 -> 597 bytes
 formula.repository                            |   64 +
 functions.html                                |  186 ++
 functions_b.html                              |  129 +
 functions_c.html                              |  168 ++
 functions_d.html                              |  132 +
 functions_dup.js                              |   30 +
 functions_e.html                              |  110 +
 functions_f.html                              |  122 +
 functions_func.html                           |  173 ++
 functions_func.js                             |   26 +
 functions_func_b.html                         |  112 +
 functions_func_c.html                         |  165 ++
 functions_func_d.html                         |  123 +
 functions_func_e.html                         |  107 +
 functions_func_f.html                         |  116 +
 functions_func_g.html                         |  169 ++
 functions_func_h.html                         |  108 +
 functions_func_i.html                         |  127 +
 functions_func_j.html                         |  104 +
 functions_func_l.html                         |  146 +
 functions_func_m.html                         |  107 +
 functions_func_n.html                         |  114 +
 functions_func_o.html                         |  158 +
 functions_func_p.html                         |  157 +
 functions_func_r.html                         |  136 +
 functions_func_s.html                         |  196 ++
 functions_func_t.html                         |  140 +
 functions_func_u.html                         |  110 +
 functions_func_v.html                         |  115 +
 functions_func_w.html                         |  112 +
 functions_func_y.html                         |  104 +
 functions_func_~.html                         |  149 +
 functions_g.html                              |  169 ++
 functions_h.html                              |  124 +
 functions_i.html                              |  130 +
 functions_j.html                              |  104 +
 functions_k.html                              |  115 +
 functions_l.html                              |  152 +
 functions_m.html                              |  129 +
 functions_n.html                              |  135 +
 functions_o.html                              |  167 ++
 functions_p.html                              |  194 ++
 functions_q.html                              |  115 +
 functions_r.html                              |  150 +
 functions_rela.html                           |  105 +
 functions_s.html                              |  211 ++
 functions_t.html                              |  164 ++
 functions_type.html                           |  368 +++
 functions_u.html                              |  122 +
 functions_v.html                              |  115 +
 functions_vars.html                           |  263 ++
 functions_w.html                              |  118 +
 functions_x.html                              |  126 +
 functions_y.html                              |  104 +
 functions_z.html                              |  119 +
 functions_~.html                              |  149 +
 geometry_2cyclic_example_8cpp-example.html    |  324 +++
 gps__conversions_8h.html                      |  186 ++
 gps__conversions_8h.js                        |   18 +
 gps__conversions_8h__incl.map                 |    7 +
 gps__conversions_8h__incl.md5                 |    1 +
 gps__conversions_8h__incl.png                 |  Bin 0 -> 9200 bytes
 gps__conversions_8h_source.html               |  366 +++
 graph_legend.html                             |  161 +
 graph_legend.md5                              |    1 +
 graph_legend.png                              |  Bin 0 -> 20615 bytes
 hierarchy.html                                |  208 ++
 hierarchy.js                                  |  121 +
 iir__filter_8h.html                           |  144 +
 iir__filter_8h__dep__incl.map                 |    4 +
 iir__filter_8h__dep__incl.md5                 |    1 +
 iir__filter_8h__dep__incl.png                 |  Bin 0 -> 4437 bytes
 iir__filter_8h__incl.map                      |    4 +
 iir__filter_8h__incl.md5                      |    1 +
 iir__filter_8h__incl.png                      |  Bin 0 -> 3597 bytes
 iir__filter_8h_source.html                    |  131 +
 image__publisher_8h_source.html               |  151 +
 index.html                                    |  125 +
 inherit_graph_0.map                           |    3 +
 inherit_graph_0.md5                           |    1 +
 inherit_graph_0.png                           |  Bin 0 -> 1861 bytes
 inherit_graph_1.map                           |    3 +
 inherit_graph_1.md5                           |    1 +
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 inherit_graph_10.map                          |    4 +
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 menu.js                                       |   50 +
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 misc_8h.html                                  |  937 ++++++
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 namespacemrs__lib.html                        | 2589 +++++++++++++++++
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 param_loader_2example_8cpp-example.html       |  183 ++
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 publisher__handler_8hpp_source.html           |  359 +++
 quadratic__throttle__model_8h_source.html     |  137 +
 repredictor_2example_8cpp-example.html        |  388 +++
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+<div class="title">Class List</div>  </div>
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+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>DynamicPublisher</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classDynamicPublisher_1_1impl.html" target="_self">impl</a></td><td class="desc"></td></tr>
+<tr id="row_1_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacemrs__lib.html" target="_self">mrs_lib</a></td><td class="desc">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace </td></tr>
+<tr id="row_1_0_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_0_" class="arrow" onclick="toggleFolder('1_0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>geometry</b></td><td class="desc"></td></tr>
+<tr id="row_1_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html" target="_self">Cone</a></td><td class="desc">Geometric representaiton of a cone </td></tr>
+<tr id="row_1_0_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html" target="_self">Cuboid</a></td><td class="desc">Geometric representation of a cuboid </td></tr>
+<tr id="row_1_0_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">cyclic</a></td><td class="desc">Implementation of the a general cyclic value (such as angles in radians/degrees etc) </td></tr>
+<tr id="row_1_0_3_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html" target="_self">Cylinder</a></td><td class="desc">Geometric representation of a cylinder </td></tr>
+<tr id="row_1_0_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html" target="_self">degrees</a></td><td class="desc">Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$) </td></tr>
+<tr id="row_1_0_5_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html" target="_self">Ellipse</a></td><td class="desc">Geometric representation of an ellipse </td></tr>
+<tr id="row_1_0_6_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html" target="_self">radians</a></td><td class="desc">Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$) </td></tr>
+<tr id="row_1_0_7_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html" target="_self">Ray</a></td><td class="desc">Geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-to raycast, or a point-direction raycast </td></tr>
+<tr id="row_1_0_8_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html" target="_self">Rectangle</a></td><td class="desc">Geometric representation of a rectangle (can represent any quadrilateral) </td></tr>
+<tr id="row_1_0_9_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html" target="_self">sdegrees</a></td><td class="desc">Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$) </td></tr>
+<tr id="row_1_0_10_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html" target="_self">sradians</a></td><td class="desc">Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$) </td></tr>
+<tr id="row_1_0_11_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html" target="_self">Triangle</a></td><td class="desc">Geometric representation of a triangle. Instantiate a new triangle by providing three vertices </td></tr>
+<tr id="row_1_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_1_" class="arrow" onclick="toggleFolder('1_1_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>quadratic_throttle_model</b></td><td class="desc"></td></tr>
+<tr id="row_1_1_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html" target="_self">MotorParams_t</a></td><td class="desc"></td></tr>
+<tr id="row_1_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html" target="_self">AtomicScopeFlag</a></td><td class="desc">Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope. Useful e.g. for indicating whether a thread is running or not </td></tr>
+<tr id="row_1_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_3_" class="arrow" onclick="toggleFolder('1_3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1AttitudeConverter.html" target="_self">AttitudeConverter</a></td><td class="desc">The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation </td></tr>
+<tr id="row_1_3_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html" target="_self">EulerFormatException</a></td><td class="desc">Thrown when the Euler angle format is set wrongly </td></tr>
+<tr id="row_1_3_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html" target="_self">GetHeadingException</a></td><td class="desc">Thrown when calculating of heading is not possible due to atan2 exception </td></tr>
+<tr id="row_1_3_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html" target="_self">InvalidAttitudeException</a></td><td class="desc">Thrown when the internal attitude becomes invalid </td></tr>
+<tr id="row_1_3_3_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html" target="_self">MathErrorException</a></td><td class="desc">Thrown when math breaks </td></tr>
+<tr id="row_1_3_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html" target="_self">SetHeadingException</a></td><td class="desc">Thrown when the heading cannot be set to an existing attitude </td></tr>
+<tr id="row_1_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1BatchVisualizer.html" target="_self">BatchVisualizer</a></td><td class="desc">Library for drawing large amounts of geometric objects in RVIZ at the same time </td></tr>
+<tr id="row_1_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1DKF.html" target="_self">DKF</a></td><td class="desc">Implementation of the Degenerate measurement Linear Kalman filter </td></tr>
+<tr id="row_1_6_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1DynamicPublisher.html" target="_self">DynamicPublisher</a></td><td class="desc">A helper class for easy publishing of ROS messages for debugging purposes </td></tr>
+<tr id="row_1_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html" target="_self">DynamicReconfigureMgr</a></td><td class="desc"></td></tr>
+<tr id="row_1_8_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1eigenvector__exception.html" target="_self">eigenvector_exception</a></td><td class="desc">This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices </td></tr>
+<tr id="row_1_9_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1EulerAttitude.html" target="_self">EulerAttitude</a></td><td class="desc">A small class for storing the Euler angles </td></tr>
+<tr id="row_1_10_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1IirFilter.html" target="_self">IirFilter</a></td><td class="desc"></td></tr>
+<tr id="row_1_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1ImagePubliserData.html" target="_self">ImagePubliserData</a></td><td class="desc"></td></tr>
+<tr id="row_1_12_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ImagePublisher.html" target="_self">ImagePublisher</a></td><td class="desc"></td></tr>
+<tr id="row_1_13_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Intersection.html" target="_self">Intersection</a></td><td class="desc"></td></tr>
+<tr id="row_1_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_14_" class="arrow" onclick="toggleFolder('1_14_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1JLKF.html" target="_self">JLKF</a></td><td class="desc"></td></tr>
+<tr id="row_1_14_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html" target="_self">inverse_exception</a></td><td class="desc">This exception is thrown when taking the inverse of a matrix fails </td></tr>
+<tr id="row_1_15_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_15_" class="arrow" onclick="toggleFolder('1_15_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1KalmanFilter.html" target="_self">KalmanFilter</a></td><td class="desc">This abstract class defines common interfaces and types for a generic Kalman filter </td></tr>
+<tr id="row_1_15_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html" target="_self">statecov_t</a></td><td class="desc">Helper struct for passing around the state and its covariance in one variable </td></tr>
+<tr id="row_1_16_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_16_" class="arrow" onclick="toggleFolder('1_16_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html" target="_self">KalmanFilterAloamGarm</a></td><td class="desc">This abstract class defines common interfaces and types for a generic Kalman filter </td></tr>
+<tr id="row_1_16_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html" target="_self">statecov_t</a></td><td class="desc">Helper struct for passing around the state and its covariance in one variable </td></tr>
+<tr id="row_1_17_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_17_" class="arrow" onclick="toggleFolder('1_17_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1LKF.html" target="_self">LKF</a></td><td class="desc">Implementation of the Linear Kalman filter <a class="el" href="citelist.html#CITEREF_LKF">[3]</a> </td></tr>
+<tr id="row_1_17_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1LKF_1_1inverse__exception.html" target="_self">inverse_exception</a></td><td class="desc">This exception is thrown when taking the inverse of a matrix fails </td></tr>
+<tr id="row_1_18_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html" target="_self">LKF_MRS_odom</a></td><td class="desc"></td></tr>
+<tr id="row_1_19_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1MedianFilter.html" target="_self">MedianFilter</a></td><td class="desc">Implementation of a median filter with a fixed-length buffer </td></tr>
+<tr id="row_1_20_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1MRSTimer.html" target="_self">MRSTimer</a></td><td class="desc">Common wrapper representing the functionality of the ros::Timer </td></tr>
+<tr id="row_1_21_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NCLKF.html" target="_self">NCLKF</a></td><td class="desc">This class implements the norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a> </td></tr>
+<tr id="row_1_22_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NCLKF__partial.html" target="_self">NCLKF_partial</a></td><td class="desc">This class implements the partially norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a> </td></tr>
+<tr id="row_1_23_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NCUKF.html" target="_self">NCUKF</a></td><td class="desc"></td></tr>
+<tr id="row_1_24_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NotchFilter.html" target="_self">NotchFilter</a></td><td class="desc"></td></tr>
+<tr id="row_1_25_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ParamLoader.html" target="_self">ParamLoader</a></td><td class="desc">Convenience class for loading parameters from rosparam server </td></tr>
+<tr id="row_1_26_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ParamProvider.html" target="_self">ParamProvider</a></td><td class="desc">Helper class for <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> </td></tr>
+<tr id="row_1_27_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_1_27_" class="arrow" onclick="toggleFolder('1_27_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Polygon.html" target="_self">Polygon</a></td><td class="desc"></td></tr>
+<tr id="row_1_27_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Polygon_1_1ExtraVertices.html" target="_self">ExtraVertices</a></td><td class="desc"></td></tr>
+<tr id="row_1_27_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns.html" target="_self">WrongNumberOfColumns</a></td><td class="desc"></td></tr>
+<tr id="row_1_27_2_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices.html" target="_self">WrongNumberOfVertices</a></td><td class="desc"></td></tr>
+<tr id="row_1_28_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Profiler.html" target="_self">Profiler</a></td><td class="desc"></td></tr>
+<tr id="row_1_29_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1PublisherHandler.html" target="_self">PublisherHandler</a></td><td class="desc">User wrapper of the publisher handler implementation </td></tr>
+<tr id="row_1_30_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html" target="_self">PublisherHandler_impl</a></td><td class="desc">Implementation of the publisher handler </td></tr>
+<tr id="row_1_31_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Repredictor.html" target="_self">Repredictor</a></td><td class="desc">Implementation of the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> for fusing measurements with variable delays </td></tr>
+<tr id="row_1_32_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" target="_self">RepredictorAloamgarm</a></td><td class="desc">Implementation of the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> for fusing measurements with variable delays </td></tr>
+<tr id="row_1_33_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1RHEIV.html" target="_self">RHEIV</a></td><td class="desc">Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a> </td></tr>
+<tr id="row_1_34_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ROSTimer.html" target="_self">ROSTimer</a></td><td class="desc">Ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method </td></tr>
+<tr id="row_1_35_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Routine.html" target="_self">Routine</a></td><td class="desc"></td></tr>
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+<tr id="row_1_40_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html" target="_self">ServiceClientHandler_impl</a></td><td class="desc">Implementation of the service client handler </td></tr>
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+<tr id="row_1_41_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html" target="_self">Impl</a></td><td class="desc"></td></tr>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#nested-classes">Classes</a> &#124;
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+<a href="#enum-members">Enumerations</a>  </div>
+  <div class="headertitle">
+<div class="title">attitude_converter.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Conversions between various representations of object attitude in 3D. Supports Quaternions, Euler angles, Angle-axis and Rotational matrices from tf, tf2, Eigen and geometry_msgs libraries. The default Euler angle notation is the extrinsic RPY.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;tuple&gt;</code><br />
+<code>#include &lt;tf2_ros/transform_listener.h&gt;</code><br />
+<code>#include &lt;tf2_ros/buffer.h&gt;</code><br />
+<code>#include &lt;tf2_eigen/tf2_eigen.h&gt;</code><br />
+<code>#include &lt;tf2_geometry_msgs/tf2_geometry_msgs.h&gt;</code><br />
+<code>#include &lt;tf/transform_datatypes.h&gt;</code><br />
+<code>#include &lt;tf_conversions/tf_eigen.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="misc_8h_source.html">mrs_lib/geometry/misc.h</a>&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for attitude_converter.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">mrs_lib::AttitudeConverter::GetHeadingException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when calculating of heading is not possible due to atan2 exception  <a href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">mrs_lib::AttitudeConverter::MathErrorException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when math breaks  <a href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html">mrs_lib::AttitudeConverter::InvalidAttitudeException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when the internal attitude becomes invalid  <a href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">mrs_lib::AttitudeConverter::EulerFormatException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when the Euler angle format is set wrongly  <a href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">mrs_lib::AttitudeConverter::SetHeadingException</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4.html">std::tuple_size&lt; mrs_lib::AttitudeConverter &gt;</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstd_1_1tuple__element_3_010_00_01mrs__lib_1_1AttitudeConverter_01_4.html">std::tuple_element&lt; 0, mrs_lib::AttitudeConverter &gt;</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstd_1_1tuple__element_3_011_00_01mrs__lib_1_1AttitudeConverter_01_4.html">std::tuple_element&lt; 1, mrs_lib::AttitudeConverter &gt;</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstd_1_1tuple__element_3_012_00_01mrs__lib_1_1AttitudeConverter_01_4.html">std::tuple_element&lt; 2, mrs_lib::AttitudeConverter &gt;</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
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+<tr class="memitem:aeebfeed9c234fa645d39c864fa3ecaab"><td class="memItemLeft" align="right" valign="top"><a id="aeebfeed9c234fa645d39c864fa3ecaab"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>RPY_convention_t</b> { <b>RPY_INTRINSIC</b> = 1, 
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Conversions between various representations of object attitude in 3D. Supports Quaternions, Euler angles, Angle-axis and Rotational matrices from tf, tf2, Eigen and geometry_msgs libraries. The default Euler angle notation is the extrinsic RPY. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomas Baca </dd></dl>
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+</div><!-- doc-content -->
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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diff --git a/attitude__converter_8h.js b/attitude__converter_8h.js
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+var attitude__converter_8h =
+[
+    [ "EulerAttitude", "classmrs__lib_1_1EulerAttitude.html", "classmrs__lib_1_1EulerAttitude" ],
+    [ "Vector3Converter", "classmrs__lib_1_1Vector3Converter.html", "classmrs__lib_1_1Vector3Converter" ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html", "classmrs__lib_1_1AttitudeConverter" ],
+    [ "GetHeadingException", "structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html", "structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException" ],
+    [ "MathErrorException", "structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html", "structmrs__lib_1_1AttitudeConverter_1_1MathErrorException" ],
+    [ "InvalidAttitudeException", "structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html", "structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException" ],
+    [ "EulerFormatException", "structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html", "structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException" ],
+    [ "SetHeadingException", "structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html", "structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException" ],
+    [ "tuple_size< mrs_lib::AttitudeConverter >", "structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4.html", null ],
+    [ "tuple_element< 0, mrs_lib::AttitudeConverter >", "structstd_1_1tuple__element_3_010_00_01mrs__lib_1_1AttitudeConverter_01_4.html", "structstd_1_1tuple__element_3_010_00_01mrs__lib_1_1AttitudeConverter_01_4" ],
+    [ "tuple_element< 1, mrs_lib::AttitudeConverter >", "structstd_1_1tuple__element_3_011_00_01mrs__lib_1_1AttitudeConverter_01_4.html", "structstd_1_1tuple__element_3_011_00_01mrs__lib_1_1AttitudeConverter_01_4" ],
+    [ "tuple_element< 2, mrs_lib::AttitudeConverter >", "structstd_1_1tuple__element_3_012_00_01mrs__lib_1_1AttitudeConverter_01_4.html", "structstd_1_1tuple__element_3_012_00_01mrs__lib_1_1AttitudeConverter_01_4" ],
+    [ "RPY_convention_t", "attitude__converter_8h.html#aeebfeed9c234fa645d39c864fa3ecaab", [
+      [ "RPY_INTRINSIC", "attitude__converter_8h.html#aeebfeed9c234fa645d39c864fa3ecaabafe6a6511417aaee7441f6a708cd217b1", null ],
+      [ "RPY_EXTRINSIC", "attitude__converter_8h.html#aeebfeed9c234fa645d39c864fa3ecaaba79f06980715846067ad2fee2cc6b8cbb", null ]
+    ] ]
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+<div class="title">attitude_converter.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="attitude__converter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: TomasFormat</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef ATTITUDE_CONVERTER_H</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#define ATTITUDE_CONVERTER_H</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;tuple&gt;</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/transform_listener.h&gt;</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/buffer.h&gt;</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;tf2_eigen/tf2_eigen.h&gt;</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;tf2_geometry_msgs/tf2_geometry_msgs.h&gt;</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;tf/transform_datatypes.h&gt;</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;tf_conversions/tf_eigen.h&gt;</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="misc_8h.html">mrs_lib/geometry/misc.h</a>&gt;</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html">   29</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// type of the object we are grasping</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  RPY_INTRINSIC = 1,</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  RPY_EXTRINSIC = 2,</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;} RPY_convention_t;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">/* class EulerAttitude //{ */</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1EulerAttitude.html">   46</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1EulerAttitude.html">EulerAttitude</a> {</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521">EulerAttitude</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">roll</a>, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">pitch</a>, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">yaw</a>);</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">roll</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">pitch</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">yaw</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">double</span> roll_, pitch_, yaw_;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;};</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">/* class Vector3Converter //{ */</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Vector3Converter.html">   90</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a> {</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">   97</a></span>&#160;  <a class="code" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">Vector3Converter</a>(<span class="keyword">const</span> tf2::Vector3&amp; vector3) : vector3_(vector3){};</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <a class="code" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">Vector3Converter</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; vector3);</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <a class="code" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">Vector3Converter</a>(<span class="keyword">const</span> geometry_msgs::Vector3&amp; vector3);</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">Vector3Converter</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; x, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; y, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; z);</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keyword">operator</span> tf2::Vector3() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keyword">operator</span> Eigen::Vector3d() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">operator</span> geometry_msgs::Vector3() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  tf2::Vector3 vector3_;</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;};</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1AttitudeConverter.html">  153</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a> {</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">/* exceptions //{ */</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">  158</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">GetHeadingException</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  {</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>() {</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">return</span> <span class="stringliteral">&quot;AttitudeConverter: can not calculate the heading, the rotated x-axis is parallel to the world&#39;s z-axis&quot;</span>;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  };</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">  166</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">MathErrorException</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>() {</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordflow">return</span> <span class="stringliteral">&quot;AttitudeConverter: math error&quot;</span>;</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    }</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  };</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html">  174</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html">InvalidAttitudeException</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  {</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>() {</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordflow">return</span> <span class="stringliteral">&quot;AttitudeConverter: invalid attitude, the input probably constains NaNs&quot;</span>;</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    }</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  };</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">  182</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">EulerFormatException</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  {</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>() {</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordflow">return</span> <span class="stringliteral">&quot;AttitudeConverter: invalid Euler angle format&quot;</span>;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  };</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">  190</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">SetHeadingException</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  {</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>() {</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordflow">return</span> <span class="stringliteral">&quot;AttitudeConverter: cannot set the desired heading, the thrust vector&#39;s Z component is 0&quot;</span>;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    }</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  };</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="comment">/* constructors //{ */</span></div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; roll, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; pitch, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; yaw, <span class="keyword">const</span> RPY_convention_t&amp; format = RPY_EXTRINSIC);</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> tf::Quaternion quaternion);</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> geometry_msgs::Quaternion quaternion);</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a>&amp; euler_attitude);</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> Eigen::Quaterniond quaternion);</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> Eigen::Matrix3d matrix);</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44">  253</a></span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44">AttitudeConverter</a>(<span class="keyword">const</span> Eigen::AngleAxis&lt;T&gt; angle_axis) {</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordtype">double</span>       angle = angle_axis.angle();</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    tf2_quaternion_.setRotation(axis, angle);</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> tf2::Quaternion quaternion);</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(<span class="keyword">const</span> tf2::Matrix3x3 matrix);</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="comment">/* operators //{ */</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="keyword">operator</span> tf2::Quaternion() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keyword">operator</span> tf::Quaternion() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
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+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keyword">operator</span> <a class="code" href="classmrs__lib_1_1EulerAttitude.html">EulerAttitude</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1AttitudeConverter.html#a10847ba4ce35fa86efbe5933ba488183">  314</a></span>&#160;  <span class="keyword">operator</span> Eigen::AngleAxis&lt;T&gt;()<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordtype">double</span>          angle = tf2_quaternion_.getAngle();</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    Eigen::Vector3d axis(tf2_quaternion_.getAxis()[0], tf2_quaternion_.getAxis()[1], tf2_quaternion_.getAxis()[2]);</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    Eigen::AngleAxis&lt;T&gt; angle_axis(angle, axis);</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">return</span> angle_axis;</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  }</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
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+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keywordflow">return</span> Eigen::Quaternion&lt;T&gt;(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());</div>
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+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keyword">operator</span> Eigen::Matrix3d() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  <span class="keyword">operator</span> std::tuple&lt;double&amp;, double&amp;, double&amp;&gt;();</div>
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+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="keyword">operator</span> tf2::Matrix3x3() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="keyword">operator</span> tf2::Transform() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
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+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
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+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
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+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">getYaw</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
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+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
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+<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
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+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
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+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
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+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
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+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
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+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
+<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <span class="keywordtype">void</span> validateOrientation(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  <span class="keywordtype">double</span> roll_, pitch_, yaw_;</div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  <span class="keywordtype">bool</span>   got_rpy_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;};</div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
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+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="keyword">template</span> &lt;std::<span class="keywordtype">size_t</span> I&gt;</div>
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+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  calculateRPY();</div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
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+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> constexpr (I == 2) {</div>
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+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  }</div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;}</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00518"></a><span class="lineno"><a class="line" href="structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4.html">  518</a></span>&#160;<span class="keyword">struct </span>std::tuple_size&lt;<a class="code" href="namespacemrs__lib.html">mrs_lib</a>::AttitudeConverter&gt;</div>
+<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;{ <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> value = 3; };</div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00522"></a><span class="lineno"><a class="line" href="structstd_1_1tuple__element_3_010_00_01mrs__lib_1_1AttitudeConverter_01_4.html">  522</a></span>&#160;<span class="keyword">struct </span>std::tuple_element&lt;0, <a class="code" href="namespacemrs__lib.html">mrs_lib</a>::AttitudeConverter&gt;</div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;{ <span class="keyword">using</span> type = double; };</div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
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+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;{ <span class="keyword">using</span> type = double; };</div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;<span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l00530"></a><span class="lineno"><a class="line" href="structstd_1_1tuple__element_3_012_00_01mrs__lib_1_1AttitudeConverter_01_4.html">  530</a></span>&#160;<span class="keyword">struct </span>std::tuple_element&lt;2, <a class="code" href="namespacemrs__lib.html">mrs_lib</a>::AttitudeConverter&gt;</div>
+<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;{ <span class="keyword">using</span> type = double; };</div>
+<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
+<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a1a98367c2a004a298a2026d883cfc0eb"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">mrs_lib::AttitudeConverter::AttitudeConverter</a></div><div class="ttdeci">AttitudeConverter(const double &amp;roll, const double &amp;pitch, const double &amp;yaw, const RPY_convention_t &amp;format=RPY_EXTRINSIC)</div><div class="ttdoc">Euler angles constructor.</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:78</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a6efdbb896bca9d52abdafb2eec0daf48"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">mrs_lib::AttitudeConverter::getHeading</a></div><div class="ttdeci">double getHeading(void)</div><div class="ttdoc">get the angle of the rotated x-axis in the original XY plane, a.k.a</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:254</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a901ca23ee140e6d42027b242f0dfac8b"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b">mrs_lib::AttitudeConverter::getVectorY</a></div><div class="ttdeci">Vector3Converter getVectorY(void)</div><div class="ttdoc">get a unit vector pointing in the Y direction</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:354</div></div>
+<div class="ttc" id="astructmrs__lib_1_1AttitudeConverter_1_1GetHeadingException_html"><div class="ttname"><a href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">mrs_lib::AttitudeConverter::GetHeadingException</a></div><div class="ttdoc">is thrown when calculating of heading is not possible due to atan2 exception</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:158</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Vector3Converter_html_ac5cf91c41293661ea55749d55aec4d48"><div class="ttname"><a href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">mrs_lib::Vector3Converter::Vector3Converter</a></div><div class="ttdeci">Vector3Converter(const tf2::Vector3 &amp;vector3)</div><div class="ttdoc">Constructor with tf2::Vector3.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:97</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a0046963fb6f70e1ecc1d50c9778fec44"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44">mrs_lib::AttitudeConverter::AttitudeConverter</a></div><div class="ttdeci">AttitudeConverter(const Eigen::AngleAxis&lt; T &gt; angle_axis)</div><div class="ttdoc">Eigen::AngleAxis constructor.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:253</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_abe03466ce1c2aefb74d402a3f1433693"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693">mrs_lib::AttitudeConverter::getIntrinsicRPY</a></div><div class="ttdeci">std::tuple&lt; double, double, double &gt; getIntrinsicRPY()</div><div class="ttdoc">get the Roll, Pitch, Yaw angles in the Intrinsic convention</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:381</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_afa7a3ddc0e143fe90bd966a6ba9f2913"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913">mrs_lib::AttitudeConverter::getYawRateIntrinsic</a></div><div class="ttdeci">double getYawRateIntrinsic(const double &amp;heading_rate)</div><div class="ttdoc">get the intrinsic yaw rate from a heading rate</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:267</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_ab2e8185898d05e5c2c9f7c7bf597f9a3"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">mrs_lib::AttitudeConverter::getYaw</a></div><div class="ttdeci">double getYaw(void)</div><div class="ttdoc">get the yaw angle</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:233</div></div>
+<div class="ttc" id="astructmrs__lib_1_1AttitudeConverter_1_1MathErrorException_html"><div class="ttname"><a href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">mrs_lib::AttitudeConverter::MathErrorException</a></div><div class="ttdoc">is thrown when math breaks</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:166</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a82b32b4b7ff4de5bcf78b168f0c3c569"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569">mrs_lib::AttitudeConverter::getRoll</a></div><div class="ttdeci">double getRoll(void)</div><div class="ttdoc">get the roll angle</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:240</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></div><div class="ttdoc">The main convertor class. Instantiate with any type in constructor and get the value in any other typ...</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:153</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1EulerAttitude_html_abbed482a509d21505dfd1e608cd362fe"><div class="ttname"><a href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">mrs_lib::EulerAttitude::pitch</a></div><div class="ttdeci">double pitch(void) const</div><div class="ttdoc">get the pitch angle</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:20</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a4853f4582b8af4f224726d15a18e9fbc"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc">mrs_lib::AttitudeConverter::getVectorZ</a></div><div class="ttdeci">Vector3Converter getVectorZ(void)</div><div class="ttdoc">get a unit vector pointing in the Z direction</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:363</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a0a9b9b0d146b4ccdc50c9a9037aec346"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346">mrs_lib::AttitudeConverter::getExtrinsicRPY</a></div><div class="ttdeci">std::tuple&lt; double, double, double &gt; getExtrinsicRPY()</div><div class="ttdoc">get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverte...</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:372</div></div>
+<div class="ttc" id="amisc_8h_html"><div class="ttname"><a href="misc_8h.html">misc.h</a></div><div class="ttdoc">Defines useful geometry utilities and functions.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a945e6c80d148df27897391bfd69c0505"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505">mrs_lib::AttitudeConverter::setYaw</a></div><div class="ttdeci">AttitudeConverter setYaw(const double &amp;new_yaw)</div><div class="ttdoc">Updates the extrinsic yaw of the current orientation.</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:394</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1EulerAttitude_html_ac4da09217c4956043801841737da8521"><div class="ttname"><a href="classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521">mrs_lib::EulerAttitude::EulerAttitude</a></div><div class="ttdeci">EulerAttitude(const double &amp;roll, const double &amp;pitch, const double &amp;yaw)</div><div class="ttdoc">A simple class for storing the Euler angles.</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:13</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a131f7ba8484bd0c7465594625d19ae89"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89">mrs_lib::AttitudeConverter::getVectorX</a></div><div class="ttdeci">Vector3Converter getVectorX(void)</div><div class="ttdoc">get a unit vector pointing in the X direction</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:345</div></div>
+<div class="ttc" id="astructmrs__lib_1_1AttitudeConverter_1_1EulerFormatException_html"><div class="ttname"><a href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">mrs_lib::AttitudeConverter::EulerFormatException</a></div><div class="ttdoc">is thrown when the Euler angle format is set wrongly</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:182</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1EulerAttitude_html_ab29c3b0fb567107c23eff485e8f2578d"><div class="ttname"><a href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">mrs_lib::EulerAttitude::yaw</a></div><div class="ttdeci">double yaw(void) const</div><div class="ttdoc">get the yaw angle</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1EulerAttitude_html"><div class="ttname"><a href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a></div><div class="ttdoc">A small class for storing the Euler angles.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_a599afad1265aaa6fd32d518e4de7817f"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f">mrs_lib::AttitudeConverter::getPitch</a></div><div class="ttdeci">double getPitch(void)</div><div class="ttdoc">get the pitch angle</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:247</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Vector3Converter_html"><div class="ttname"><a href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></div><div class="ttdoc">Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and conv...</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:90</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_ac818b4e515d614d5d473be95b5ee9024"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024">mrs_lib::AttitudeConverter::setHeading</a></div><div class="ttdeci">AttitudeConverter setHeading(const double &amp;heading)</div><div class="ttdoc">Updates the heading of the current orientation by updating the intrinsic yaw.</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:403</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_ab3ac6086b34f743ac5e78249640eeddd"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd">mrs_lib::AttitudeConverter::getHeadingRate</a></div><div class="ttdeci">double getHeadingRate(const Vector3Converter &amp;attitude_rate)</div><div class="ttdoc">get heading rate base on the orientation and body-based attitude rate</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:312</div></div>
+<div class="ttc" id="astructmrs__lib_1_1AttitudeConverter_1_1SetHeadingException_html"><div class="ttname"><a href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">mrs_lib::AttitudeConverter::SetHeadingException</a></div><div class="ttdoc">is thrown when the heading cannot be set to an existing attitude</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:190</div></div>
+<div class="ttc" id="astructmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException_html"><div class="ttname"><a href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html">mrs_lib::AttitudeConverter::InvalidAttitudeException</a></div><div class="ttdoc">is thrown when the internal attitude becomes invalid</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:174</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="contents">
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+<p>For convenient and computationally lightweight drawing of geometry in RVIZ using marker arrays.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;visualization_msgs/MarkerArray.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="shapes_8h_source.html">mrs_lib/geometry/shapes.h</a>&gt;</code><br />
+<code>#include &lt;mrs_msgs/TrajectoryReference.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="visual__object_8h_source.html">mrs_lib/visual_object.h</a>&gt;</code><br />
+<code>#include &lt;set&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for batch_visualizer.h:</div>
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+</div>
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+<p><a href="batch__visualizer_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">library for drawing large amounts of geometric objects in RVIZ at the same time  <a href="classmrs__lib_1_1BatchVisualizer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
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+<tr class="separator:a51b7645de121a21302986b8fa7ff2759"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>For convenient and computationally lightweight drawing of geometry in RVIZ using marker arrays. </p>
+<dl class="section author"><dt>Author</dt><dd>Petr Štibinger - <a href="#" onclick="location.href='mai'+'lto:'+'sti'+'bi'+'pet'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">stibi<span style="display: none;">.nosp@m.</span>pet@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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+  <ul>
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+    <li class="footer">Generated by
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+<div class="title">batch_visualizer.h</div>  </div>
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+<div class="contents">
+<a href="batch__visualizer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef BATCH_VISUALIZER_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define BATCH_VISUALIZER_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/MarkerArray.h&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="shapes_8h.html">mrs_lib/geometry/shapes.h</a>&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/TrajectoryReference.h&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="visual__object_8h.html">mrs_lib/visual_object.h</a>&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#define DEFAULT_ELLIPSE_POINTS 64</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1BatchVisualizer.html">   25</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1BatchVisualizer.html">BatchVisualizer</a> {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a2a426c62b02dec6430362920db0d6c80">BatchVisualizer</a>();</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459">~BatchVisualizer</a>();</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a2a426c62b02dec6430362920db0d6c80">BatchVisualizer</a>(ros::NodeHandle &amp;nh, std::string marker_topic_name, std::string parent_frame);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">addPoint</a>(<span class="keyword">const</span> Eigen::Vector3d &amp;point, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 1.0, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.3, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">addRay</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a> &amp;ray, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 1.0, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;              <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">addTriangle</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a> &amp;tri, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.5, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 0.5, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">addRectangle</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a> &amp;rect, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.5, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 0.5, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                    <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">addCuboid</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a> &amp;cuboid, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.5, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 0.5, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">addEllipse</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a> &amp;ellipse, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.0, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 1.0, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 1.0, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> num_points = DEFAULT_ELLIPSE_POINTS, <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">addCylinder</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a> &amp;cylinder, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.7, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 0.8, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.3, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> capped = <span class="keyword">true</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> sides = DEFAULT_ELLIPSE_POINTS,</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                   <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">addCone</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a> &amp;cone, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.7, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 0.8, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.3, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> capped = <span class="keyword">true</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> sides = DEFAULT_ELLIPSE_POINTS, <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">addTrajectory</a>(<span class="keyword">const</span> mrs_msgs::TrajectoryReference &amp;traj, <span class="keyword">const</span> <span class="keywordtype">double</span> r = 0.3, <span class="keyword">const</span> <span class="keywordtype">double</span> g = 1.0, <span class="keyword">const</span> <span class="keywordtype">double</span> b = 0.3, <span class="keyword">const</span> <span class="keywordtype">double</span> a = 1.0,</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                     <span class="keyword">const</span> <span class="keywordtype">bool</span> filled = <span class="keyword">true</span>, <span class="keyword">const</span> ros::Duration &amp;timeout = ros::Duration(0));</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a7556fd856cd4be7d0bdea9a4c0c6e1fc">addNullPoint</a>();</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a7f4d6d1ae967d6a5c15351969d9e4592">addNullLine</a>();</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a6a844cdffd1474570988e8d1a87126cb">addNullTriangle</a>();</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">setPointsScale</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> scale);</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">setParentFrame</a>(<span class="keyword">const</span> std::string parent_frame);</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">setLinesScale</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> scale);</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f">clearBuffers</a>();</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb">clearVisuals</a>();</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b">publish</a>();</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  ros::Publisher                  visual_pub;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  visualization_msgs::MarkerArray msg;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  std::string parent_frame; <span class="comment">// coordinate frame id</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  std::string marker_topic_name;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  std::set&lt;VisualObject&gt; visual_objects; <span class="comment">// buffer for objects to be visualized</span></div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  visualization_msgs::Marker points_marker;</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  visualization_msgs::Marker lines_marker;</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  visualization_msgs::Marker triangles_marker;</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordtype">bool</span> initialized = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordtype">void</span> initialize();</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordtype">double</span> points_scale = 0.02;</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keywordtype">double</span> lines_scale  = 0.04;</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> uuid = 0; <span class="comment">// create unique ID for items in object buffer</span></div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;};</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a3b7e6b602bdaf7d42e1c48ea511aa93b"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b">mrs_lib::BatchVisualizer::publish</a></div><div class="ttdeci">void publish()</div><div class="ttdoc">publish the visual markers ROS message and populates it with buffer content</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:270</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_ac03c515ed44761d88f43a2af446c26b7"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">mrs_lib::BatchVisualizer::addEllipse</a></div><div class="ttdeci">void addEllipse(const mrs_lib::geometry::Ellipse &amp;ellipse, const double r=0.0, const double g=1.0, const double b=1.0, const double a=1.0, const bool filled=true, const int num_points=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add an ellipse to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:136</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a6a844cdffd1474570988e8d1a87126cb"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a6a844cdffd1474570988e8d1a87126cb">mrs_lib::BatchVisualizer::addNullTriangle</a></div><div class="ttdeci">void addNullTriangle()</div><div class="ttdoc">helper function for adding an invisible triangle to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:211</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_ac9c76c18ef837dc7b87cf20f5e2511b9"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">mrs_lib::BatchVisualizer::addPoint</a></div><div class="ttdeci">void addPoint(const Eigen::Vector3d &amp;point, const double r=0.0, const double g=1.0, const double b=0.3, const double a=1.0, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a point to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:93</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a83a3baa46f7a3c22079a1d80aaed4459"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459">mrs_lib::BatchVisualizer::~BatchVisualizer</a></div><div class="ttdeci">~BatchVisualizer()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:12</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_af36566a7f7267a2cdb167a533e4cb856"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">mrs_lib::BatchVisualizer::setLinesScale</a></div><div class="ttdeci">void setLinesScale(const double scale)</div><div class="ttdoc">set the thickness of all lines</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:246</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a317a263d7a57b88805a3d264976b4c9f"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f">mrs_lib::BatchVisualizer::clearBuffers</a></div><div class="ttdeci">void clearBuffers()</div><div class="ttdoc">remove all objects from the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:252</div></div>
+<div class="ttc" id="avisual__object_8h_html"><div class="ttname"><a href="visual__object_8h.html">visual_object.h</a></div><div class="ttdoc">Object abstraction for the Batch Visualizer.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></div><div class="ttdoc">geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-t...</div><div class="ttdef"><b>Definition:</b> shapes.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_aacda752bbfd192279da0fe15f001b0bb"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb">mrs_lib::BatchVisualizer::clearVisuals</a></div><div class="ttdeci">void clearVisuals()</div><div class="ttdoc">publishes an empty message. Removes all objects drawn onto the scene, but keeps them in buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:258</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></div><div class="ttdoc">geometric representation of a cuboid</div><div class="ttdef"><b>Definition:</b> shapes.h:317</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a284c94fdfec8f359704d92f9ef79cd74"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">mrs_lib::BatchVisualizer::setParentFrame</a></div><div class="ttdeci">void setParentFrame(const std::string parent_frame)</div><div class="ttdoc">set the parent frame_id</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:27</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_ab5aba26d50dbe7fe22cd4c0549a99051"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">mrs_lib::BatchVisualizer::addCuboid</a></div><div class="ttdeci">void addCuboid(const mrs_lib::geometry::Cuboid &amp;cuboid, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a cuboid to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:127</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_ac613c22b8ed79cd169636e6aafacf2dc"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">mrs_lib::BatchVisualizer::setPointsScale</a></div><div class="ttdeci">void setPointsScale(const double scale)</div><div class="ttdoc">set the scale of all points</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:240</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_abd2f9394a4cb63da0478ad1621ed7e79"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">mrs_lib::BatchVisualizer::addCylinder</a></div><div class="ttdeci">void addCylinder(const mrs_lib::geometry::Cylinder &amp;cylinder, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a cylinder to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:145</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a937c831f9caac50bc84f671c3260f1a7"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">mrs_lib::BatchVisualizer::addCone</a></div><div class="ttdeci">void addCone(const mrs_lib::geometry::Cone &amp;cone, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a cone to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:153</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_ae2cf4d2a0578711a060f7f398179a677"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">mrs_lib::BatchVisualizer::addTriangle</a></div><div class="ttdeci">void addTriangle(const mrs_lib::geometry::Triangle &amp;tri, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a triangle to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:109</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></div><div class="ttdoc">geometric representation of an ellipse</div><div class="ttdef"><b>Definition:</b> shapes.h:426</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a7556fd856cd4be7d0bdea9a4c0c6e1fc"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a7556fd856cd4be7d0bdea9a4c0c6e1fc">mrs_lib::BatchVisualizer::addNullPoint</a></div><div class="ttdeci">void addNullPoint()</div><div class="ttdoc">helper function for adding an invisible point to the object buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:169</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></div><div class="ttdoc">geometric representation of a rectangle (can represent any quadrilateral)</div><div class="ttdef"><b>Definition:</b> shapes.h:187</div></div>
+<div class="ttc" id="ashapes_8h_html"><div class="ttname"><a href="shapes_8h.html">shapes.h</a></div><div class="ttdoc">Defines various geometrical shapes and their relations.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a5a68c474ce18a4fccbc8f14066267d73"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">mrs_lib::BatchVisualizer::addRectangle</a></div><div class="ttdeci">void addRectangle(const mrs_lib::geometry::Rectangle &amp;rect, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a rectangle to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:118</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_ae3c2f932f592a0e61da8e51643cc686a"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">mrs_lib::BatchVisualizer::addRay</a></div><div class="ttdeci">void addRay(const mrs_lib::geometry::Ray &amp;ray, const double r=1.0, const double g=0.0, const double b=0.0, const double a=1.0, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a ray to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:101</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></div><div class="ttdoc">geometric representation of a triangle. Instantiate a new triangle by providing three vertices</div><div class="ttdef"><b>Definition:</b> shapes.h:98</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a7f4d6d1ae967d6a5c15351969d9e4592"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a7f4d6d1ae967d6a5c15351969d9e4592">mrs_lib::BatchVisualizer::addNullLine</a></div><div class="ttdeci">void addNullLine()</div><div class="ttdoc">helper function for adding an invisible line to the object buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:187</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a2a426c62b02dec6430362920db0d6c80"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a2a426c62b02dec6430362920db0d6c80">mrs_lib::BatchVisualizer::BatchVisualizer</a></div><div class="ttdeci">BatchVisualizer()</div><div class="ttdoc">dummy constructor</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:9</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></div><div class="ttdoc">geometric representation of a cylinder</div><div class="ttdef"><b>Definition:</b> shapes.h:490</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></div><div class="ttdoc">geometric representaiton of a cone</div><div class="ttdef"><b>Definition:</b> shapes.h:573</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html_a5dad7ddef02d959da350385544b98063"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">mrs_lib::BatchVisualizer::addTrajectory</a></div><div class="ttdeci">void addTrajectory(const mrs_msgs::TrajectoryReference &amp;traj, const double r=0.3, const double g=1.0, const double b=0.3, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</div><div class="ttdoc">add a trajectory to the buffer</div><div class="ttdef"><b>Definition:</b> batch_visualizer.cpp:161</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1BatchVisualizer_html"><div class="ttname"><a href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></div><div class="ttdoc">library for drawing large amounts of geometric objects in RVIZ at the same time</div><div class="ttdef"><b>Definition:</b> batch_visualizer.h:25</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
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+</div>
+<!-- end header part -->
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+<div class="title">Bibliography </div>  </div>
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+<div class="contents">
+<div class="textblock"><dl class="citelist">
+<dt><a class="anchor" id="CITEREF_NCUKF"></a>[1]</dt>
+<dd><p class="startdd">Stephen&#160;A. Chee and James&#160;R. Forbes. <a href="https://arc.aiaa.org/doi/abs/10.2514/6.2016-1856">Norm-constrained unscented kalman filter with application to high area-to-mass ratio space-debris tracking</a>. In <em>AIAA Guidance, Navigation, and Control Conference</em>, Jan 2016. </p>
+<p class="enddd"></p>
+</dd>
+<dt><a class="anchor" id="CITEREF_FNSandHEIV"></a>[2]</dt>
+<dd><p class="startdd">W.&#160;Chojnacki, M.&#160;J. Brooks, A.&#160;van den Hengel, and D.&#160;Gawley. FNS and HEIV: relating two vision parameter estimation frameworks. In <em>12th International Conference on Image Analysis and Processing, 2003.Proceedings.</em>, pages 152&ndash;157, Sep 2003. </p>
+<p class="enddd"></p>
+</dd>
+<dt><a class="anchor" id="CITEREF_LKF"></a>[3]</dt>
+<dd><p class="startdd">Rudolph&#160;Emil Kalman. A new approach to linear filtering and prediction problems. <em>Transactions of the ASME&ndash;Journal of Basic Engineering</em>, 82(Series D):35&ndash;45, 1960.</p>
+<p class="enddd"></p>
+</dd>
+<dt><a class="anchor" id="CITEREF_UKF"></a>[4]</dt>
+<dd><p class="startdd">E.&#160;A. Wan and R.&#160;Van Der Merwe. The unscented kalman filter for nonlinear estimation. In <em>Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373)</em>, pages 153&ndash;158, Oct 2000. </p>
+<p class="enddd"></p>
+</dd>
+<dt><a class="anchor" id="CITEREF_NCLKF"></a>[5]</dt>
+<dd><p class="startdd">Renato Zanetti, Manoranjan Majji, Robert&#160;H. Bishop, and Daniele Mortari. <a href="https://doi.org/10.2514/1.43119">Norm-constrained kalman filtering</a>. <em>Journal of Guidance, Control, and Dynamics</em>, 32(5):1458&ndash;1465, 2009. </p>
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+</dd>
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+<div class="title">DynamicPublisher::impl Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>impl</b>()=default (defined in <a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a>)</td><td class="entry"><a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>impl</b>(const ros::NodeHandle &amp;nh) (defined in <a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a>)</td><td class="entry"><a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>publish</b>(const std::string name, const T &amp;msg) (defined in <a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a>)</td><td class="entry"><a class="el" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classDynamicPublisher_1_1impl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DynamicPublisher::impl Class Reference</div>  </div>
+</div><!--header-->
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+<tr class="separator:a1fe7ec12024c0e3e1c907a34acfdfd64"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/impl/<a class="el" href="dynamic__publisher_8hpp_source.html">dynamic_publisher.hpp</a></li>
+</ul>
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+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><b>DynamicPublisher</b></li><li class="navelem"><a class="el" href="classDynamicPublisher_1_1impl.html">impl</a></li>
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+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+  <div class="headertitle">
+<div class="title">SubObject Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSubObject.html">SubObject</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callback_method</b>(const std_msgs::String::ConstPtr msg) (defined in <a class="el" href="classSubObject.html">SubObject</a>)</td><td class="entry"><a class="el" href="classSubObject.html">SubObject</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
+<div class="title">SubObject Class Reference</div>  </div>
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+<li>src/subscribe_handler/<a class="el" href="subscribe__handler_2example_8cpp.html">example.cpp</a></li>
+</ul>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">ThreadTimer::Impl Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Impl</b>(const std::function&lt; void(const ros::TimerEvent &amp;)&gt; &amp;callback, const ros::Duration &amp;delay_dur, const bool oneshot) (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Impl</b>(const Impl &amp;)=delete (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Impl</b>(Impl &amp;&amp;)=delete (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(const Impl &amp;)=delete (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(Impl &amp;&amp;)=delete (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>setPeriod</b>(const ros::Duration &amp;duration, const bool reset=true) (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>start</b>() (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>stop</b>() (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ThreadTimer</b> (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~Impl</b>() (defined in <a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a>)</td><td class="entry"><a class="el" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classThreadTimer_1_1Impl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ThreadTimer::Impl Class Reference</div>  </div>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>setPeriod</b> (const ros::Duration &amp;duration, const bool reset=true)</td></tr>
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+<a class="el" href="classThreadTimer_1_1Impl.html">Impl</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classThreadTimer_1_1Impl.html">Impl</a> &amp;&amp;)=delete</td></tr>
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+<tr class="separator:a3bfed848c47524c3e45cd469acf38701"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/impl/<a class="el" href="timer_8hpp_source.html">timer.hpp</a></li>
+<li>src/timer/timer.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>ThreadTimer</b></li><li class="navelem"><a class="el" href="classThreadTimer_1_1Impl.html">Impl</a></li>
+    <li class="footer">Generated by
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+<title>mrs_lib: Class Index</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">Class Index</div>  </div>
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+<td></td></tr>
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+<td valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> (mrs_lib::geometry)&#160;&#160;&#160;</td>
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diff --git a/classmrs__lib_1_1AtomicScopeFlag-members.html b/classmrs__lib_1_1AtomicScopeFlag-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
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+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div class="title">mrs_lib::AtomicScopeFlag Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html">mrs_lib::AtomicScopeFlag</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">AtomicScopeFlag</a>(std::atomic&lt; bool &gt; &amp;in)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html">mrs_lib::AtomicScopeFlag</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">~AtomicScopeFlag</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html">mrs_lib::AtomicScopeFlag</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
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+  </ul>
+</div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1AtomicScopeFlag-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AtomicScopeFlag Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope. Useful e.g. for indicating whether a thread is running or not.  
+ <a href="classmrs__lib_1_1AtomicScopeFlag.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="utils_8h_source.html">utils.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a168dc1d0a0ae38b254d89a84afdc4cab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">AtomicScopeFlag</a> (std::atomic&lt; bool &gt; &amp;in)</td></tr>
+<tr class="memdesc:a168dc1d0a0ae38b254d89a84afdc4cab"><td class="mdescLeft">&#160;</td><td class="mdescRight">The constructor. Sets the flag <code>in</code> to <code>true</code>.  <a href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">More...</a><br /></td></tr>
+<tr class="separator:a168dc1d0a0ae38b254d89a84afdc4cab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aafdf61c0af0bffada120eec2a8c858b1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">~AtomicScopeFlag</a> ()</td></tr>
+<tr class="memdesc:aafdf61c0af0bffada120eec2a8c858b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The destructor. Resets the variable given in the constructor to <code>false</code>.  <a href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">More...</a><br /></td></tr>
+<tr class="separator:aafdf61c0af0bffada120eec2a8c858b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope. Useful e.g. for indicating whether a thread is running or not. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a168dc1d0a0ae38b254d89a84afdc4cab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a168dc1d0a0ae38b254d89a84afdc4cab">&#9670;&nbsp;</a></span>AtomicScopeFlag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AtomicScopeFlag::AtomicScopeFlag </td>
+          <td>(</td>
+          <td class="paramtype">std::atomic&lt; bool &gt; &amp;&#160;</td>
+          <td class="paramname"><em>in</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The constructor. Sets the flag <code>in</code> to <code>true</code>. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">in</td><td>The flag to be set on construction of this object and reset (set to <code>false</code>) on its destruction. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aafdf61c0af0bffada120eec2a8c858b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafdf61c0af0bffada120eec2a8c858b1">&#9670;&nbsp;</a></span>~AtomicScopeFlag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AtomicScopeFlag::~AtomicScopeFlag </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The destructor. Resets the variable given in the constructor to <code>false</code>. </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="utils_8h_source.html">utils.h</a></li>
+<li>src/utils/utils.cpp</li>
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a>(const double &amp;roll, const double &amp;pitch, const double &amp;yaw, const RPY_convention_t &amp;format=RPY_EXTRINSIC)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a134453cd539536eea199763467690483">AttitudeConverter</a>(const tf::Quaternion quaternion)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a9f00a180ebe802b8b7e30e08cc688f26">AttitudeConverter</a>(const geometry_msgs::Quaternion quaternion)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a28987247a78e426e03eb37d51c7b6d82">AttitudeConverter</a>(const mrs_lib::EulerAttitude &amp;euler_attitude)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a15e411e1c06cd3af16d10f660656718b">AttitudeConverter</a>(const Eigen::Quaterniond quaternion)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ad50e60f2d412b2253221c00fbbff2ead">AttitudeConverter</a>(const Eigen::Matrix3d matrix)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44">AttitudeConverter</a>(const Eigen::AngleAxis&lt; T &gt; angle_axis)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a7d3224c3f9b32c2a9c65f63f5a2644ea">AttitudeConverter</a>(const tf2::Quaternion quaternion)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a24d9d274eb16af01c3630ecb32065652">AttitudeConverter</a>(const tf2::Matrix3x3 matrix)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>get</b>() (defined in <a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346">getExtrinsicRPY</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">getHeading</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd">getHeadingRate</a>(const Vector3Converter &amp;attitude_rate)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693">getIntrinsicRPY</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f">getPitch</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569">getRoll</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89">getVectorX</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b">getVectorY</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc">getVectorZ</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">getYaw</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913">getYawRateIntrinsic</a>(const double &amp;heading_rate)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a10847ba4ce35fa86efbe5933ba488183">operator Eigen::AngleAxis&lt; T &gt;</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator Eigen::Matrix3d</b>() const (defined in <a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6db421976b5060c086f495f00edca314">operator Eigen::Quaternion&lt; T &gt;</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a03ef9a1c10a9963e650fa217f0f04707">operator EulerAttitude</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abc1686c5d27246a937c661f313ca13d0">operator geometry_msgs::Quaternion</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a8f7e3a434632e7546149d64b2ab2e191">operator std::tuple&lt; double &amp;, double &amp;, double &amp; &gt;</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a123b85369560e858a9d3aba19a49227a">operator tf2::Matrix3x3</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4dd088014d1f15da217c960e8a9dbd6f">operator tf2::Quaternion</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a09cd3459f52f9071db33c1ac7a5161de">operator tf2::Transform</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a7b6d71e47ec12e76f25823ad408c704c">operator tf::Quaternion</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024">setHeading</a>(const double &amp;heading)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505">setYaw</a>(const double &amp;new_yaw)</td><td class="entry"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></td><td class="entry"></td></tr>
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1AttitudeConverter-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation.  
+ <a href="classmrs__lib_1_1AttitudeConverter.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">EulerFormatException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when the Euler angle format is set wrongly  <a href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">GetHeadingException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when calculating of heading is not possible due to atan2 exception  <a href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html">InvalidAttitudeException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when the internal attitude becomes invalid  <a href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">MathErrorException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when math breaks  <a href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">SetHeadingException</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when the heading cannot be set to an existing attitude  <a href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a1a98367c2a004a298a2026d883cfc0eb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">AttitudeConverter</a> (const double &amp;roll, const double &amp;pitch, const double &amp;yaw, const RPY_convention_t &amp;format=RPY_EXTRINSIC)</td></tr>
+<tr class="memdesc:a1a98367c2a004a298a2026d883cfc0eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Euler angles constructor.  <a href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">More...</a><br /></td></tr>
+<tr class="separator:a1a98367c2a004a298a2026d883cfc0eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a134453cd539536eea199763467690483"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a134453cd539536eea199763467690483">AttitudeConverter</a> (const tf::Quaternion quaternion)</td></tr>
+<tr class="memdesc:a134453cd539536eea199763467690483"><td class="mdescLeft">&#160;</td><td class="mdescRight">tf::Quaternion constructor  <a href="classmrs__lib_1_1AttitudeConverter.html#a134453cd539536eea199763467690483">More...</a><br /></td></tr>
+<tr class="separator:a134453cd539536eea199763467690483"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f00a180ebe802b8b7e30e08cc688f26"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a9f00a180ebe802b8b7e30e08cc688f26">AttitudeConverter</a> (const geometry_msgs::Quaternion quaternion)</td></tr>
+<tr class="memdesc:a9f00a180ebe802b8b7e30e08cc688f26"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometry_msgs::Quaternion constructor  <a href="classmrs__lib_1_1AttitudeConverter.html#a9f00a180ebe802b8b7e30e08cc688f26">More...</a><br /></td></tr>
+<tr class="separator:a9f00a180ebe802b8b7e30e08cc688f26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28987247a78e426e03eb37d51c7b6d82"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a28987247a78e426e03eb37d51c7b6d82">AttitudeConverter</a> (const <a class="el" href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a> &amp;euler_attitude)</td></tr>
+<tr class="memdesc:a28987247a78e426e03eb37d51c7b6d82"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">mrs_lib::EulerAttitude</a> constructor  <a href="classmrs__lib_1_1AttitudeConverter.html#a28987247a78e426e03eb37d51c7b6d82">More...</a><br /></td></tr>
+<tr class="separator:a28987247a78e426e03eb37d51c7b6d82"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15e411e1c06cd3af16d10f660656718b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a15e411e1c06cd3af16d10f660656718b">AttitudeConverter</a> (const Eigen::Quaterniond quaternion)</td></tr>
+<tr class="memdesc:a15e411e1c06cd3af16d10f660656718b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Eigen::Quaterniond constructor.  <a href="classmrs__lib_1_1AttitudeConverter.html#a15e411e1c06cd3af16d10f660656718b">More...</a><br /></td></tr>
+<tr class="separator:a15e411e1c06cd3af16d10f660656718b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad50e60f2d412b2253221c00fbbff2ead"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ad50e60f2d412b2253221c00fbbff2ead">AttitudeConverter</a> (const Eigen::Matrix3d matrix)</td></tr>
+<tr class="memdesc:ad50e60f2d412b2253221c00fbbff2ead"><td class="mdescLeft">&#160;</td><td class="mdescRight">Eigen::Matrix3d constructor.  <a href="classmrs__lib_1_1AttitudeConverter.html#ad50e60f2d412b2253221c00fbbff2ead">More...</a><br /></td></tr>
+<tr class="separator:ad50e60f2d412b2253221c00fbbff2ead"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0046963fb6f70e1ecc1d50c9778fec44"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:a0046963fb6f70e1ecc1d50c9778fec44"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44">AttitudeConverter</a> (const Eigen::AngleAxis&lt; T &gt; angle_axis)</td></tr>
+<tr class="memdesc:a0046963fb6f70e1ecc1d50c9778fec44"><td class="mdescLeft">&#160;</td><td class="mdescRight">Eigen::AngleAxis constructor.  <a href="classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44">More...</a><br /></td></tr>
+<tr class="separator:a0046963fb6f70e1ecc1d50c9778fec44"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d3224c3f9b32c2a9c65f63f5a2644ea"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a7d3224c3f9b32c2a9c65f63f5a2644ea">AttitudeConverter</a> (const tf2::Quaternion quaternion)</td></tr>
+<tr class="memdesc:a7d3224c3f9b32c2a9c65f63f5a2644ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">tf2::Quaternion constructor  <a href="classmrs__lib_1_1AttitudeConverter.html#a7d3224c3f9b32c2a9c65f63f5a2644ea">More...</a><br /></td></tr>
+<tr class="separator:a7d3224c3f9b32c2a9c65f63f5a2644ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a24d9d274eb16af01c3630ecb32065652"><td class="mdescLeft">&#160;</td><td class="mdescRight">tf2::Matrix3x3 constructor  <a href="classmrs__lib_1_1AttitudeConverter.html#a24d9d274eb16af01c3630ecb32065652">More...</a><br /></td></tr>
+<tr class="separator:a24d9d274eb16af01c3630ecb32065652"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd088014d1f15da217c960e8a9dbd6f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4dd088014d1f15da217c960e8a9dbd6f">operator tf2::Quaternion</a> () const</td></tr>
+<tr class="memdesc:a4dd088014d1f15da217c960e8a9dbd6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast to tf2::Quaternion  <a href="classmrs__lib_1_1AttitudeConverter.html#a4dd088014d1f15da217c960e8a9dbd6f">More...</a><br /></td></tr>
+<tr class="separator:a4dd088014d1f15da217c960e8a9dbd6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b6d71e47ec12e76f25823ad408c704c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a7b6d71e47ec12e76f25823ad408c704c">operator tf::Quaternion</a> () const</td></tr>
+<tr class="memdesc:a7b6d71e47ec12e76f25823ad408c704c"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast to tf::Quaternion  <a href="classmrs__lib_1_1AttitudeConverter.html#a7b6d71e47ec12e76f25823ad408c704c">More...</a><br /></td></tr>
+<tr class="separator:a7b6d71e47ec12e76f25823ad408c704c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abc1686c5d27246a937c661f313ca13d0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abc1686c5d27246a937c661f313ca13d0">operator geometry_msgs::Quaternion</a> () const</td></tr>
+<tr class="memdesc:abc1686c5d27246a937c661f313ca13d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast to geometry_msgs::Quaternion  <a href="classmrs__lib_1_1AttitudeConverter.html#abc1686c5d27246a937c661f313ca13d0">More...</a><br /></td></tr>
+<tr class="separator:abc1686c5d27246a937c661f313ca13d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a03ef9a1c10a9963e650fa217f0f04707"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a03ef9a1c10a9963e650fa217f0f04707">operator EulerAttitude</a> () const</td></tr>
+<tr class="memdesc:a03ef9a1c10a9963e650fa217f0f04707"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast to <a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">EulerAttitude</a>  <a href="classmrs__lib_1_1AttitudeConverter.html#a03ef9a1c10a9963e650fa217f0f04707">More...</a><br /></td></tr>
+<tr class="separator:a03ef9a1c10a9963e650fa217f0f04707"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a10847ba4ce35fa86efbe5933ba488183"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="memdesc:a10847ba4ce35fa86efbe5933ba488183"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast to Eigen::AngleAxis  <a href="classmrs__lib_1_1AttitudeConverter.html#a10847ba4ce35fa86efbe5933ba488183">More...</a><br /></td></tr>
+<tr class="separator:a10847ba4ce35fa86efbe5933ba488183"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6db421976b5060c086f495f00edca314"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:a6db421976b5060c086f495f00edca314"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6db421976b5060c086f495f00edca314">operator Eigen::Quaternion&lt; T &gt;</a> () const</td></tr>
+<tr class="memdesc:a6db421976b5060c086f495f00edca314"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast to <a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">EulerAttitude</a> Eigen::Quaternion  <a href="classmrs__lib_1_1AttitudeConverter.html#a6db421976b5060c086f495f00edca314">More...</a><br /></td></tr>
+<tr class="separator:a6db421976b5060c086f495f00edca314"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7edeee77361b5991b8eff3a135b25d43"><td class="memItemLeft" align="right" valign="top"><a id="a7edeee77361b5991b8eff3a135b25d43"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>operator Eigen::Matrix3d</b> () const</td></tr>
+<tr class="separator:a7edeee77361b5991b8eff3a135b25d43"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f7e3a434632e7546149d64b2ab2e191"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a8f7e3a434632e7546149d64b2ab2e191">operator std::tuple&lt; double &amp;, double &amp;, double &amp; &gt;</a> ()</td></tr>
+<tr class="memdesc:a8f7e3a434632e7546149d64b2ab2e191"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecase to tuple of Euler angles in extrinsic RPY  <a href="classmrs__lib_1_1AttitudeConverter.html#a8f7e3a434632e7546149d64b2ab2e191">More...</a><br /></td></tr>
+<tr class="separator:a8f7e3a434632e7546149d64b2ab2e191"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a123b85369560e858a9d3aba19a49227a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a123b85369560e858a9d3aba19a49227a">operator tf2::Matrix3x3</a> () const</td></tr>
+<tr class="memdesc:a123b85369560e858a9d3aba19a49227a"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecase to tf2::Matrix3x3  <a href="classmrs__lib_1_1AttitudeConverter.html#a123b85369560e858a9d3aba19a49227a">More...</a><br /></td></tr>
+<tr class="separator:a123b85369560e858a9d3aba19a49227a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a09cd3459f52f9071db33c1ac7a5161de"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a09cd3459f52f9071db33c1ac7a5161de">operator tf2::Transform</a> () const</td></tr>
+<tr class="memdesc:a09cd3459f52f9071db33c1ac7a5161de"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecase to tf2::Transform  <a href="classmrs__lib_1_1AttitudeConverter.html#a09cd3459f52f9071db33c1ac7a5161de">More...</a><br /></td></tr>
+<tr class="separator:a09cd3459f52f9071db33c1ac7a5161de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a82b32b4b7ff4de5bcf78b168f0c3c569"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569">getRoll</a> (void)</td></tr>
+<tr class="memdesc:a82b32b4b7ff4de5bcf78b168f0c3c569"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the roll angle  <a href="classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569">More...</a><br /></td></tr>
+<tr class="separator:a82b32b4b7ff4de5bcf78b168f0c3c569"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a599afad1265aaa6fd32d518e4de7817f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f">getPitch</a> (void)</td></tr>
+<tr class="memdesc:a599afad1265aaa6fd32d518e4de7817f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the pitch angle  <a href="classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f">More...</a><br /></td></tr>
+<tr class="separator:a599afad1265aaa6fd32d518e4de7817f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2e8185898d05e5c2c9f7c7bf597f9a3"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">getYaw</a> (void)</td></tr>
+<tr class="memdesc:ab2e8185898d05e5c2c9f7c7bf597f9a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the yaw angle  <a href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">More...</a><br /></td></tr>
+<tr class="separator:ab2e8185898d05e5c2c9f7c7bf597f9a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6efdbb896bca9d52abdafb2eec0daf48"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">getHeading</a> (void)</td></tr>
+<tr class="memdesc:a6efdbb896bca9d52abdafb2eec0daf48"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the angle of the rotated x-axis in the original XY plane, a.k.a  <a href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">More...</a><br /></td></tr>
+<tr class="separator:a6efdbb896bca9d52abdafb2eec0daf48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3ac6086b34f743ac5e78249640eeddd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd">getHeadingRate</a> (const <a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a> &amp;attitude_rate)</td></tr>
+<tr class="memdesc:ab3ac6086b34f743ac5e78249640eeddd"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading rate base on the orientation and body-based attitude rate  <a href="classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd">More...</a><br /></td></tr>
+<tr class="separator:ab3ac6086b34f743ac5e78249640eeddd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa7a3ddc0e143fe90bd966a6ba9f2913"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913">getYawRateIntrinsic</a> (const double &amp;heading_rate)</td></tr>
+<tr class="memdesc:afa7a3ddc0e143fe90bd966a6ba9f2913"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the intrinsic yaw rate from a heading rate  <a href="classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913">More...</a><br /></td></tr>
+<tr class="separator:afa7a3ddc0e143fe90bd966a6ba9f2913"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a131f7ba8484bd0c7465594625d19ae89"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89">getVectorX</a> (void)</td></tr>
+<tr class="memdesc:a131f7ba8484bd0c7465594625d19ae89"><td class="mdescLeft">&#160;</td><td class="mdescRight">get a unit vector pointing in the X direction  <a href="classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89">More...</a><br /></td></tr>
+<tr class="separator:a131f7ba8484bd0c7465594625d19ae89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a901ca23ee140e6d42027b242f0dfac8b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b">getVectorY</a> (void)</td></tr>
+<tr class="memdesc:a901ca23ee140e6d42027b242f0dfac8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">get a unit vector pointing in the Y direction  <a href="classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b">More...</a><br /></td></tr>
+<tr class="separator:a901ca23ee140e6d42027b242f0dfac8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4853f4582b8af4f224726d15a18e9fbc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc">getVectorZ</a> (void)</td></tr>
+<tr class="memdesc:a4853f4582b8af4f224726d15a18e9fbc"><td class="mdescLeft">&#160;</td><td class="mdescRight">get a unit vector pointing in the Z direction  <a href="classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc">More...</a><br /></td></tr>
+<tr class="separator:a4853f4582b8af4f224726d15a18e9fbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe03466ce1c2aefb74d402a3f1433693"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693">getIntrinsicRPY</a> ()</td></tr>
+<tr class="memdesc:abe03466ce1c2aefb74d402a3f1433693"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the Roll, Pitch, Yaw angles in the Intrinsic convention  <a href="classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693">More...</a><br /></td></tr>
+<tr class="separator:abe03466ce1c2aefb74d402a3f1433693"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0a9b9b0d146b4ccdc50c9a9037aec346"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346">getExtrinsicRPY</a> ()</td></tr>
+<tr class="memdesc:a0a9b9b0d146b4ccdc50c9a9037aec346"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default <a class="el" href="classmrs__lib_1_1AttitudeConverter.html" title="The main convertor class. Instantiate with any type in constructor and get the value in any other typ...">AttitudeConverter</a> assignment.  <a href="classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346">More...</a><br /></td></tr>
+<tr class="separator:a0a9b9b0d146b4ccdc50c9a9037aec346"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac818b4e515d614d5d473be95b5ee9024"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024">setHeading</a> (const double &amp;heading)</td></tr>
+<tr class="memdesc:ac818b4e515d614d5d473be95b5ee9024"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the heading of the current orientation by updating the intrinsic yaw.  <a href="classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024">More...</a><br /></td></tr>
+<tr class="separator:ac818b4e515d614d5d473be95b5ee9024"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a945e6c80d148df27897391bfd69c0505"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505">setYaw</a> (const double &amp;new_yaw)</td></tr>
+<tr class="memdesc:a945e6c80d148df27897391bfd69c0505"><td class="mdescLeft">&#160;</td><td class="mdescRight">Updates the extrinsic yaw of the current orientation.  <a href="classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505">More...</a><br /></td></tr>
+<tr class="separator:a945e6c80d148df27897391bfd69c0505"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d4a90673d6e7046dbc4b2ce340b295a"><td class="memTemplParams" colspan="2"><a id="a9d4a90673d6e7046dbc4b2ce340b295a"></a>
+template&lt;std::size_t I&gt; </td></tr>
+<tr class="memitem:a9d4a90673d6e7046dbc4b2ce340b295a"><td class="memTemplItemLeft" align="right" valign="top">constexpr auto&#160;</td><td class="memTemplItemRight" valign="bottom"><b>get</b> ()</td></tr>
+<tr class="separator:a9d4a90673d6e7046dbc4b2ce340b295a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1a98367c2a004a298a2026d883cfc0eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a98367c2a004a298a2026d883cfc0eb">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[1/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>roll</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>pitch</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>yaw</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const RPY_convention_t &amp;&#160;</td>
+          <td class="paramname"><em>format</em> = <code>RPY_EXTRINSIC</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Euler angles constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">roll</td><td></td></tr>
+    <tr><td class="paramname">pitch</td><td></td></tr>
+    <tr><td class="paramname">yaw</td><td></td></tr>
+    <tr><td class="paramname">format</td><td>optional, Euler angle convention, {"extrinsic", "intrinsic"}, defaults to "extrinsic" </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a134453cd539536eea199763467690483"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a134453cd539536eea199763467690483">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[2/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const tf::Quaternion&#160;</td>
+          <td class="paramname"><em>quaternion</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>tf::Quaternion constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quaternion</td><td>tf::Quaternion quaternion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a9f00a180ebe802b8b7e30e08cc688f26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f00a180ebe802b8b7e30e08cc688f26">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[3/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Quaternion&#160;</td>
+          <td class="paramname"><em>quaternion</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>geometry_msgs::Quaternion constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quaternion</td><td>geometry_msgs::Quaternion quaternion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a28987247a78e426e03eb37d51c7b6d82"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28987247a78e426e03eb37d51c7b6d82">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[4/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a> &amp;&#160;</td>
+          <td class="paramname"><em>euler_attitude</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">mrs_lib::EulerAttitude</a> constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">euler_attitude</td><td><a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">mrs_lib::EulerAttitude</a> </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a15e411e1c06cd3af16d10f660656718b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15e411e1c06cd3af16d10f660656718b">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[5/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Quaterniond&#160;</td>
+          <td class="paramname"><em>quaternion</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Eigen::Quaterniond constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quaternion</td><td>Eigen::Quaterniond quaternion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad50e60f2d412b2253221c00fbbff2ead"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad50e60f2d412b2253221c00fbbff2ead">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[6/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Matrix3d&#160;</td>
+          <td class="paramname"><em>matrix</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Eigen::Matrix3d constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">matrix</td><td>Eigen::Matrix3d rotational matrix </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0046963fb6f70e1ecc1d50c9778fec44"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0046963fb6f70e1ecc1d50c9778fec44">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[7/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::AngleAxis&lt; T &gt;&#160;</td>
+          <td class="paramname"><em>angle_axis</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Eigen::AngleAxis constructor. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">T</td><td>angle-axis base type </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">angle_axis</td><td>Eigen::AngleAxis </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7d3224c3f9b32c2a9c65f63f5a2644ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d3224c3f9b32c2a9c65f63f5a2644ea">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[8/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const tf2::Quaternion&#160;</td>
+          <td class="paramname"><em>quaternion</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>tf2::Quaternion constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quaternion</td><td>tf2::Quaternion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a24d9d274eb16af01c3630ecb32065652"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a24d9d274eb16af01c3630ecb32065652">&#9670;&nbsp;</a></span>AttitudeConverter() <span class="overload">[9/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::AttitudeConverter </td>
+          <td>(</td>
+          <td class="paramtype">const tf2::Matrix3x3&#160;</td>
+          <td class="paramname"><em>matrix</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>tf2::Matrix3x3 constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quaternion</td><td>tf2::Matrix3x3 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0a9b9b0d146b4ccdc50c9a9037aec346"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a9b9b0d146b4ccdc50c9a9037aec346">&#9670;&nbsp;</a></span>getExtrinsicRPY()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt; double, double, double &gt; mrs_lib::AttitudeConverter::getExtrinsicRPY </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default <a class="el" href="classmrs__lib_1_1AttitudeConverter.html" title="The main convertor class. Instantiate with any type in constructor and get the value in any other typ...">AttitudeConverter</a> assignment. </p>
+<dl class="section return"><dt>Returns</dt><dd>RPY </dd></dl>
+
+</div>
+</div>
+<a id="a6efdbb896bca9d52abdafb2eec0daf48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6efdbb896bca9d52abdafb2eec0daf48">&#9670;&nbsp;</a></span>getHeading()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::AttitudeConverter::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the angle of the rotated x-axis in the original XY plane, a.k.a </p>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="ab3ac6086b34f743ac5e78249640eeddd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3ac6086b34f743ac5e78249640eeddd">&#9670;&nbsp;</a></span>getHeadingRate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::AttitudeConverter::getHeadingRate </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a> &amp;&#160;</td>
+          <td class="paramname"><em>attitude_rate</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading rate base on the orientation and body-based attitude rate </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">attitude_rate</td><td>in the body frame</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading rate in the world </dd></dl>
+
+</div>
+</div>
+<a id="abe03466ce1c2aefb74d402a3f1433693"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe03466ce1c2aefb74d402a3f1433693">&#9670;&nbsp;</a></span>getIntrinsicRPY()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt; double, double, double &gt; mrs_lib::AttitudeConverter::getIntrinsicRPY </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the Roll, Pitch, Yaw angles in the Intrinsic convention </p>
+<dl class="section return"><dt>Returns</dt><dd>RPY </dd></dl>
+
+</div>
+</div>
+<a id="a599afad1265aaa6fd32d518e4de7817f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a599afad1265aaa6fd32d518e4de7817f">&#9670;&nbsp;</a></span>getPitch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::AttitudeConverter::getPitch </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the pitch angle </p>
+<dl class="section return"><dt>Returns</dt><dd>pitch </dd></dl>
+
+</div>
+</div>
+<a id="a82b32b4b7ff4de5bcf78b168f0c3c569"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a82b32b4b7ff4de5bcf78b168f0c3c569">&#9670;&nbsp;</a></span>getRoll()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::AttitudeConverter::getRoll </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the roll angle </p>
+<dl class="section return"><dt>Returns</dt><dd>roll </dd></dl>
+
+</div>
+</div>
+<a id="a131f7ba8484bd0c7465594625d19ae89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a131f7ba8484bd0c7465594625d19ae89">&#9670;&nbsp;</a></span>getVectorX()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a> mrs_lib::AttitudeConverter::getVectorX </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get a unit vector pointing in the X direction </p>
+<dl class="section return"><dt>Returns</dt><dd>the vector </dd></dl>
+
+</div>
+</div>
+<a id="a901ca23ee140e6d42027b242f0dfac8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a901ca23ee140e6d42027b242f0dfac8b">&#9670;&nbsp;</a></span>getVectorY()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a> mrs_lib::AttitudeConverter::getVectorY </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get a unit vector pointing in the Y direction </p>
+<dl class="section return"><dt>Returns</dt><dd>the vector </dd></dl>
+
+</div>
+</div>
+<a id="a4853f4582b8af4f224726d15a18e9fbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4853f4582b8af4f224726d15a18e9fbc">&#9670;&nbsp;</a></span>getVectorZ()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a> mrs_lib::AttitudeConverter::getVectorZ </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get a unit vector pointing in the Z direction </p>
+<dl class="section return"><dt>Returns</dt><dd>the vector </dd></dl>
+
+</div>
+</div>
+<a id="ab2e8185898d05e5c2c9f7c7bf597f9a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab2e8185898d05e5c2c9f7c7bf597f9a3">&#9670;&nbsp;</a></span>getYaw()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::AttitudeConverter::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the yaw angle </p>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="afa7a3ddc0e143fe90bd966a6ba9f2913"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa7a3ddc0e143fe90bd966a6ba9f2913">&#9670;&nbsp;</a></span>getYawRateIntrinsic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::AttitudeConverter::getYawRateIntrinsic </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>heading_rate</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the intrinsic yaw rate from a heading rate </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">heading_rate</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>intrinsic yaw rate </dd></dl>
+
+</div>
+</div>
+<a id="a10847ba4ce35fa86efbe5933ba488183"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a10847ba4ce35fa86efbe5933ba488183">&#9670;&nbsp;</a></span>operator Eigen::AngleAxis&lt; T &gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator Eigen::AngleAxis&lt; T &gt; </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>typecast to Eigen::AngleAxis </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">T</td><td>angle-axis base type</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>orientation in <a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">EulerAttitude</a> </dd></dl>
+
+</div>
+</div>
+<a id="a6db421976b5060c086f495f00edca314"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6db421976b5060c086f495f00edca314">&#9670;&nbsp;</a></span>operator Eigen::Quaternion&lt; T &gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator Eigen::Quaternion&lt; T &gt; </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>typecast to <a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">EulerAttitude</a> Eigen::Quaternion </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">T</td><td>quaternion base type</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>orientation in Eigen::Quaternion </dd></dl>
+
+</div>
+</div>
+<a id="a03ef9a1c10a9963e650fa217f0f04707"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03ef9a1c10a9963e650fa217f0f04707">&#9670;&nbsp;</a></span>operator EulerAttitude()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator <a class="el" href="classmrs__lib_1_1EulerAttitude.html">EulerAttitude</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast to <a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">EulerAttitude</a> </p>
+<dl class="section return"><dt>Returns</dt><dd>orientation in <a class="el" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles.">EulerAttitude</a> </dd></dl>
+
+</div>
+</div>
+<a id="abc1686c5d27246a937c661f313ca13d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc1686c5d27246a937c661f313ca13d0">&#9670;&nbsp;</a></span>operator geometry_msgs::Quaternion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast to geometry_msgs::Quaternion </p>
+<dl class="section return"><dt>Returns</dt><dd>orientation in geometry_msgs::Quaternion </dd></dl>
+
+</div>
+</div>
+<a id="a8f7e3a434632e7546149d64b2ab2e191"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8f7e3a434632e7546149d64b2ab2e191">&#9670;&nbsp;</a></span>operator std::tuple&lt; double &amp;, double &amp;, double &amp; &gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator std::tuple&lt; double &amp;, double &amp;, double &amp; &gt; </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecase to tuple of Euler angles in extrinsic RPY </p>
+<dl class="section return"><dt>Returns</dt><dd>std::tuple of extrinsic RPY </dd></dl>
+
+</div>
+</div>
+<a id="a123b85369560e858a9d3aba19a49227a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a123b85369560e858a9d3aba19a49227a">&#9670;&nbsp;</a></span>operator tf2::Matrix3x3()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator tf2::Matrix3x3 </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecase to tf2::Matrix3x3 </p>
+<dl class="section return"><dt>Returns</dt><dd>tf2::Matrix3x3 rotational matrix </dd></dl>
+
+</div>
+</div>
+<a id="a4dd088014d1f15da217c960e8a9dbd6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd088014d1f15da217c960e8a9dbd6f">&#9670;&nbsp;</a></span>operator tf2::Quaternion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator tf2::Quaternion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast to tf2::Quaternion </p>
+<dl class="section return"><dt>Returns</dt><dd>orientation in tf2::Quaternion </dd></dl>
+
+</div>
+</div>
+<a id="a09cd3459f52f9071db33c1ac7a5161de"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09cd3459f52f9071db33c1ac7a5161de">&#9670;&nbsp;</a></span>operator tf2::Transform()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator tf2::Transform </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecase to tf2::Transform </p>
+<dl class="section return"><dt>Returns</dt><dd>tf2::Transform </dd></dl>
+
+</div>
+</div>
+<a id="a7b6d71e47ec12e76f25823ad408c704c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b6d71e47ec12e76f25823ad408c704c">&#9670;&nbsp;</a></span>operator tf::Quaternion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::AttitudeConverter::operator tf::Quaternion </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast to tf::Quaternion </p>
+<dl class="section return"><dt>Returns</dt><dd>orientation in tf::Quaternion </dd></dl>
+
+</div>
+</div>
+<a id="ac818b4e515d614d5d473be95b5ee9024"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac818b4e515d614d5d473be95b5ee9024">&#9670;&nbsp;</a></span>setHeading()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a> mrs_lib::AttitudeConverter::setHeading </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>heading</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Updates the heading of the current orientation by updating the intrinsic yaw. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">new</td><td>heading</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the orientation </dd></dl>
+
+</div>
+</div>
+<a id="a945e6c80d148df27897391bfd69c0505"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a945e6c80d148df27897391bfd69c0505">&#9670;&nbsp;</a></span>setYaw()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a> mrs_lib::AttitudeConverter::setYaw </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>new_yaw</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Updates the extrinsic yaw of the current orientation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">new</td><td>yaw</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the orientation </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+<li>src/attitude_converter/attitude_converter.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1AttitudeConverter.js b/classmrs__lib_1_1AttitudeConverter.js
new file mode 100644
index 00000000..d67ef003
--- /dev/null
+++ b/classmrs__lib_1_1AttitudeConverter.js
@@ -0,0 +1,41 @@
+var classmrs__lib_1_1AttitudeConverter =
+[
+    [ "EulerFormatException", "structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html", "structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException" ],
+    [ "GetHeadingException", "structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html", "structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException" ],
+    [ "InvalidAttitudeException", "structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html", "structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException" ],
+    [ "MathErrorException", "structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html", "structmrs__lib_1_1AttitudeConverter_1_1MathErrorException" ],
+    [ "SetHeadingException", "structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html", "structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException" ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a134453cd539536eea199763467690483", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a9f00a180ebe802b8b7e30e08cc688f26", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a28987247a78e426e03eb37d51c7b6d82", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a15e411e1c06cd3af16d10f660656718b", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#ad50e60f2d412b2253221c00fbbff2ead", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a0046963fb6f70e1ecc1d50c9778fec44", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a7d3224c3f9b32c2a9c65f63f5a2644ea", null ],
+    [ "AttitudeConverter", "classmrs__lib_1_1AttitudeConverter.html#a24d9d274eb16af01c3630ecb32065652", null ],
+    [ "get", "classmrs__lib_1_1AttitudeConverter.html#a9d4a90673d6e7046dbc4b2ce340b295a", null ],
+    [ "getExtrinsicRPY", "classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346", null ],
+    [ "getHeading", "classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48", null ],
+    [ "getHeadingRate", "classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd", null ],
+    [ "getIntrinsicRPY", "classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693", null ],
+    [ "getPitch", "classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f", null ],
+    [ "getRoll", "classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569", null ],
+    [ "getVectorX", "classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89", null ],
+    [ "getVectorY", "classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b", null ],
+    [ "getVectorZ", "classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc", null ],
+    [ "getYaw", "classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3", null ],
+    [ "getYawRateIntrinsic", "classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913", null ],
+    [ "operator Eigen::AngleAxis< T >", "classmrs__lib_1_1AttitudeConverter.html#a10847ba4ce35fa86efbe5933ba488183", null ],
+    [ "operator Eigen::Matrix3d", "classmrs__lib_1_1AttitudeConverter.html#a7edeee77361b5991b8eff3a135b25d43", null ],
+    [ "operator Eigen::Quaternion< T >", "classmrs__lib_1_1AttitudeConverter.html#a6db421976b5060c086f495f00edca314", null ],
+    [ "operator EulerAttitude", "classmrs__lib_1_1AttitudeConverter.html#a03ef9a1c10a9963e650fa217f0f04707", null ],
+    [ "operator geometry_msgs::Quaternion", "classmrs__lib_1_1AttitudeConverter.html#abc1686c5d27246a937c661f313ca13d0", null ],
+    [ "operator std::tuple< double &, double &, double & >", "classmrs__lib_1_1AttitudeConverter.html#a8f7e3a434632e7546149d64b2ab2e191", null ],
+    [ "operator tf2::Matrix3x3", "classmrs__lib_1_1AttitudeConverter.html#a123b85369560e858a9d3aba19a49227a", null ],
+    [ "operator tf2::Quaternion", "classmrs__lib_1_1AttitudeConverter.html#a4dd088014d1f15da217c960e8a9dbd6f", null ],
+    [ "operator tf2::Transform", "classmrs__lib_1_1AttitudeConverter.html#a09cd3459f52f9071db33c1ac7a5161de", null ],
+    [ "operator tf::Quaternion", "classmrs__lib_1_1AttitudeConverter.html#a7b6d71e47ec12e76f25823ad408c704c", null ],
+    [ "setHeading", "classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024", null ],
+    [ "setYaw", "classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505", null ]
+];
\ No newline at end of file
diff --git a/classmrs__lib_1_1BatchVisualizer-members.html b/classmrs__lib_1_1BatchVisualizer-members.html
new file mode 100644
index 00000000..a1ad8a2f
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+++ b/classmrs__lib_1_1BatchVisualizer-members.html
@@ -0,0 +1,125 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1BatchVisualizer.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::BatchVisualizer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">addCone</a>(const mrs_lib::geometry::Cone &amp;cone, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">addCuboid</a>(const mrs_lib::geometry::Cuboid &amp;cuboid, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">addCylinder</a>(const mrs_lib::geometry::Cylinder &amp;cylinder, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">addEllipse</a>(const mrs_lib::geometry::Ellipse &amp;ellipse, const double r=0.0, const double g=1.0, const double b=1.0, const double a=1.0, const bool filled=true, const int num_points=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7f4d6d1ae967d6a5c15351969d9e4592">addNullLine</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7556fd856cd4be7d0bdea9a4c0c6e1fc">addNullPoint</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a6a844cdffd1474570988e8d1a87126cb">addNullTriangle</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">addPoint</a>(const Eigen::Vector3d &amp;point, const double r=0.0, const double g=1.0, const double b=0.3, const double a=1.0, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">addRay</a>(const mrs_lib::geometry::Ray &amp;ray, const double r=1.0, const double g=0.0, const double b=0.0, const double a=1.0, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">addRectangle</a>(const mrs_lib::geometry::Rectangle &amp;rect, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">addTrajectory</a>(const mrs_msgs::TrajectoryReference &amp;traj, const double r=0.3, const double g=1.0, const double b=0.3, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">addTriangle</a>(const mrs_lib::geometry::Triangle &amp;tri, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a2a426c62b02dec6430362920db0d6c80">BatchVisualizer</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3a857713e5516bec553b5380eaa423f8">BatchVisualizer</a>(ros::NodeHandle &amp;nh, std::string marker_topic_name, std::string parent_frame)</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f">clearBuffers</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb">clearVisuals</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b">publish</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">setLinesScale</a>(const double scale)</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">setParentFrame</a>(const std::string parent_frame)</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">setPointsScale</a>(const double scale)</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459">~BatchVisualizer</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">mrs_lib::BatchVisualizer</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1BatchVisualizer.html b/classmrs__lib_1_1BatchVisualizer.html
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1BatchVisualizer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::BatchVisualizer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>library for drawing large amounts of geometric objects in RVIZ at the same time  
+ <a href="classmrs__lib_1_1BatchVisualizer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="batch__visualizer_8h_source.html">batch_visualizer.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a426c62b02dec6430362920db0d6c80"><td class="memItemLeft" align="right" valign="top"><a id="a2a426c62b02dec6430362920db0d6c80"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a2a426c62b02dec6430362920db0d6c80">BatchVisualizer</a> ()</td></tr>
+<tr class="memdesc:a2a426c62b02dec6430362920db0d6c80"><td class="mdescLeft">&#160;</td><td class="mdescRight">dummy constructor <br /></td></tr>
+<tr class="separator:a2a426c62b02dec6430362920db0d6c80"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a83a3baa46f7a3c22079a1d80aaed4459"><td class="memItemLeft" align="right" valign="top"><a id="a83a3baa46f7a3c22079a1d80aaed4459"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459">~BatchVisualizer</a> ()</td></tr>
+<tr class="memdesc:a83a3baa46f7a3c22079a1d80aaed4459"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:a83a3baa46f7a3c22079a1d80aaed4459"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a857713e5516bec553b5380eaa423f8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3a857713e5516bec553b5380eaa423f8">BatchVisualizer</a> (ros::NodeHandle &amp;nh, std::string marker_topic_name, std::string parent_frame)</td></tr>
+<tr class="memdesc:a3a857713e5516bec553b5380eaa423f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor to initialize the visualizer  <a href="classmrs__lib_1_1BatchVisualizer.html#a3a857713e5516bec553b5380eaa423f8">More...</a><br /></td></tr>
+<tr class="separator:a3a857713e5516bec553b5380eaa423f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9c76c18ef837dc7b87cf20f5e2511b9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">addPoint</a> (const Eigen::Vector3d &amp;point, const double r=0.0, const double g=1.0, const double b=0.3, const double a=1.0, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:ac9c76c18ef837dc7b87cf20f5e2511b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a point to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">More...</a><br /></td></tr>
+<tr class="separator:ac9c76c18ef837dc7b87cf20f5e2511b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3c2f932f592a0e61da8e51643cc686a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">addRay</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a> &amp;ray, const double r=1.0, const double g=0.0, const double b=0.0, const double a=1.0, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:ae3c2f932f592a0e61da8e51643cc686a"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a ray to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">More...</a><br /></td></tr>
+<tr class="separator:ae3c2f932f592a0e61da8e51643cc686a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2cf4d2a0578711a060f7f398179a677"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">addTriangle</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a> &amp;tri, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:ae2cf4d2a0578711a060f7f398179a677"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a triangle to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">More...</a><br /></td></tr>
+<tr class="separator:ae2cf4d2a0578711a060f7f398179a677"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a68c474ce18a4fccbc8f14066267d73"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">addRectangle</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a> &amp;rect, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:a5a68c474ce18a4fccbc8f14066267d73"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a rectangle to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">More...</a><br /></td></tr>
+<tr class="separator:a5a68c474ce18a4fccbc8f14066267d73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5aba26d50dbe7fe22cd4c0549a99051"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">addCuboid</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a> &amp;cuboid, const double r=0.5, const double g=0.5, const double b=0.0, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:ab5aba26d50dbe7fe22cd4c0549a99051"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a cuboid to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">More...</a><br /></td></tr>
+<tr class="separator:ab5aba26d50dbe7fe22cd4c0549a99051"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac03c515ed44761d88f43a2af446c26b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">addEllipse</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a> &amp;ellipse, const double r=0.0, const double g=1.0, const double b=1.0, const double a=1.0, const bool filled=true, const int num_points=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:ac03c515ed44761d88f43a2af446c26b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">add an ellipse to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">More...</a><br /></td></tr>
+<tr class="separator:ac03c515ed44761d88f43a2af446c26b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd2f9394a4cb63da0478ad1621ed7e79"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">addCylinder</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a> &amp;cylinder, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:abd2f9394a4cb63da0478ad1621ed7e79"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a cylinder to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">More...</a><br /></td></tr>
+<tr class="separator:abd2f9394a4cb63da0478ad1621ed7e79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a937c831f9caac50bc84f671c3260f1a7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">addCone</a> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a> &amp;cone, const double r=0.7, const double g=0.8, const double b=0.3, const double a=1.0, const bool filled=true, const bool capped=true, const int sides=DEFAULT_ELLIPSE_POINTS, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:a937c831f9caac50bc84f671c3260f1a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a cone to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">More...</a><br /></td></tr>
+<tr class="separator:a937c831f9caac50bc84f671c3260f1a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dad7ddef02d959da350385544b98063"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">addTrajectory</a> (const mrs_msgs::TrajectoryReference &amp;traj, const double r=0.3, const double g=1.0, const double b=0.3, const double a=1.0, const bool filled=true, const ros::Duration &amp;timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:a5dad7ddef02d959da350385544b98063"><td class="mdescLeft">&#160;</td><td class="mdescRight">add a trajectory to the buffer  <a href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">More...</a><br /></td></tr>
+<tr class="separator:a5dad7ddef02d959da350385544b98063"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7556fd856cd4be7d0bdea9a4c0c6e1fc"><td class="memItemLeft" align="right" valign="top"><a id="a7556fd856cd4be7d0bdea9a4c0c6e1fc"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7556fd856cd4be7d0bdea9a4c0c6e1fc">addNullPoint</a> ()</td></tr>
+<tr class="memdesc:a7556fd856cd4be7d0bdea9a4c0c6e1fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function for adding an invisible point to the object buffer <br /></td></tr>
+<tr class="separator:a7556fd856cd4be7d0bdea9a4c0c6e1fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f4d6d1ae967d6a5c15351969d9e4592"><td class="memItemLeft" align="right" valign="top"><a id="a7f4d6d1ae967d6a5c15351969d9e4592"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7f4d6d1ae967d6a5c15351969d9e4592">addNullLine</a> ()</td></tr>
+<tr class="memdesc:a7f4d6d1ae967d6a5c15351969d9e4592"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function for adding an invisible line to the object buffer <br /></td></tr>
+<tr class="separator:a7f4d6d1ae967d6a5c15351969d9e4592"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a844cdffd1474570988e8d1a87126cb"><td class="memItemLeft" align="right" valign="top"><a id="a6a844cdffd1474570988e8d1a87126cb"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a6a844cdffd1474570988e8d1a87126cb">addNullTriangle</a> ()</td></tr>
+<tr class="memdesc:a6a844cdffd1474570988e8d1a87126cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function for adding an invisible triangle to the buffer <br /></td></tr>
+<tr class="separator:a6a844cdffd1474570988e8d1a87126cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac613c22b8ed79cd169636e6aafacf2dc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">setPointsScale</a> (const double scale)</td></tr>
+<tr class="memdesc:ac613c22b8ed79cd169636e6aafacf2dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the scale of all points  <a href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">More...</a><br /></td></tr>
+<tr class="separator:ac613c22b8ed79cd169636e6aafacf2dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a284c94fdfec8f359704d92f9ef79cd74"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">setParentFrame</a> (const std::string parent_frame)</td></tr>
+<tr class="memdesc:a284c94fdfec8f359704d92f9ef79cd74"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the parent frame_id  <a href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">More...</a><br /></td></tr>
+<tr class="separator:a284c94fdfec8f359704d92f9ef79cd74"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af36566a7f7267a2cdb167a533e4cb856"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">setLinesScale</a> (const double scale)</td></tr>
+<tr class="memdesc:af36566a7f7267a2cdb167a533e4cb856"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the thickness of all lines  <a href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">More...</a><br /></td></tr>
+<tr class="separator:af36566a7f7267a2cdb167a533e4cb856"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a317a263d7a57b88805a3d264976b4c9f"><td class="memItemLeft" align="right" valign="top"><a id="a317a263d7a57b88805a3d264976b4c9f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f">clearBuffers</a> ()</td></tr>
+<tr class="memdesc:a317a263d7a57b88805a3d264976b4c9f"><td class="mdescLeft">&#160;</td><td class="mdescRight">remove all objects from the buffer <br /></td></tr>
+<tr class="separator:a317a263d7a57b88805a3d264976b4c9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aacda752bbfd192279da0fe15f001b0bb"><td class="memItemLeft" align="right" valign="top"><a id="aacda752bbfd192279da0fe15f001b0bb"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb">clearVisuals</a> ()</td></tr>
+<tr class="memdesc:aacda752bbfd192279da0fe15f001b0bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">publishes an empty message. Removes all objects drawn onto the scene, but keeps them in buffer <br /></td></tr>
+<tr class="separator:aacda752bbfd192279da0fe15f001b0bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b7e6b602bdaf7d42e1c48ea511aa93b"><td class="memItemLeft" align="right" valign="top"><a id="a3b7e6b602bdaf7d42e1c48ea511aa93b"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b">publish</a> ()</td></tr>
+<tr class="memdesc:a3b7e6b602bdaf7d42e1c48ea511aa93b"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish the visual markers ROS message and populates it with buffer content <br /></td></tr>
+<tr class="separator:a3b7e6b602bdaf7d42e1c48ea511aa93b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>library for drawing large amounts of geometric objects in RVIZ at the same time </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3a857713e5516bec553b5380eaa423f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a857713e5516bec553b5380eaa423f8">&#9670;&nbsp;</a></span>BatchVisualizer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::BatchVisualizer::BatchVisualizer </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>marker_topic_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>parent_frame</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor to initialize the visualizer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node to connect our publisher to ROS </td></tr>
+    <tr><td class="paramname">marker_topic_name</td><td>name of the topic on which the markers will be published </td></tr>
+    <tr><td class="paramname">parent_frame</td><td>name of the frame to which the markers will be linked </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a937c831f9caac50bc84f671c3260f1a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a937c831f9caac50bc84f671c3260f1a7">&#9670;&nbsp;</a></span>addCone()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addCone </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a> &amp;&#160;</td>
+          <td class="paramname"><em>cone</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.7</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>0.8</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>capped</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int&#160;</td>
+          <td class="paramname"><em>sides</em> = <code>DEFAULT_ELLIPSE_POINTS</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a cone to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cone</td><td>cone to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = face visible, False = outline visible </td></tr>
+    <tr><td class="paramname">capped</td><td>bool to set caps on/off. True = cap drawn, False = base cap missing </td></tr>
+    <tr><td class="paramname">sides</td><td>number of points to approximate the round shape </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab5aba26d50dbe7fe22cd4c0549a99051"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5aba26d50dbe7fe22cd4c0549a99051">&#9670;&nbsp;</a></span>addCuboid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addCuboid </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a> &amp;&#160;</td>
+          <td class="paramname"><em>cuboid</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a cuboid to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cuboid</td><td>cuboid to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = face visible, False = outline visible </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abd2f9394a4cb63da0478ad1621ed7e79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd2f9394a4cb63da0478ad1621ed7e79">&#9670;&nbsp;</a></span>addCylinder()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addCylinder </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a> &amp;&#160;</td>
+          <td class="paramname"><em>cylinder</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.7</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>0.8</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>capped</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int&#160;</td>
+          <td class="paramname"><em>sides</em> = <code>DEFAULT_ELLIPSE_POINTS</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a cylinder to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cylinder</td><td>cylinder to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = face visible, False = outline visible </td></tr>
+    <tr><td class="paramname">capped</td><td>bool to set caps on/off. True = caps drawn, False = hollow cylinder </td></tr>
+    <tr><td class="paramname">sides</td><td>number of points to approximate the round shape </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac03c515ed44761d88f43a2af446c26b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac03c515ed44761d88f43a2af446c26b7">&#9670;&nbsp;</a></span>addEllipse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addEllipse </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a> &amp;&#160;</td>
+          <td class="paramname"><em>ellipse</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int&#160;</td>
+          <td class="paramname"><em>num_points</em> = <code>DEFAULT_ELLIPSE_POINTS</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add an ellipse to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ellipse</td><td>ellipse to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = face visible, False = outline visible </td></tr>
+    <tr><td class="paramname">num_points</td><td>number of points to approximate the round shape </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac9c76c18ef837dc7b87cf20f5e2511b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9c76c18ef837dc7b87cf20f5e2511b9">&#9670;&nbsp;</a></span>addPoint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addPoint </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>point</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a point to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">point</td><td>coordinates of the point </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae3c2f932f592a0e61da8e51643cc686a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3c2f932f592a0e61da8e51643cc686a">&#9670;&nbsp;</a></span>addRay()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addRay </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a> &amp;&#160;</td>
+          <td class="paramname"><em>ray</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a ray to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ray</td><td>ray to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5a68c474ce18a4fccbc8f14066267d73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a68c474ce18a4fccbc8f14066267d73">&#9670;&nbsp;</a></span>addRectangle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addRectangle </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a> &amp;&#160;</td>
+          <td class="paramname"><em>rect</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a rectangle to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">rect</td><td>rectangle to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = face visible, False = outline visible </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5dad7ddef02d959da350385544b98063"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5dad7ddef02d959da350385544b98063">&#9670;&nbsp;</a></span>addTrajectory()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addTrajectory </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrajectoryReference &amp;&#160;</td>
+          <td class="paramname"><em>traj</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a trajectory to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">traj</td><td>trajectory reference to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = continuous line, False = only visualize points </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae2cf4d2a0578711a060f7f398179a677"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae2cf4d2a0578711a060f7f398179a677">&#9670;&nbsp;</a></span>addTriangle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::addTriangle </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a> &amp;&#160;</td>
+          <td class="paramname"><em>tri</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>r</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>g</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em> = <code>0.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>filled</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>add a triangle to the buffer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">tri</td><td>triangle to be added </td></tr>
+    <tr><td class="paramname">r</td><td>red color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">g</td><td>green color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">b</td><td>blue color in range &lt;0,1&gt; </td></tr>
+    <tr><td class="paramname">a</td><td>alpha in range &lt;0,1&gt; (0 is fully transparent) </td></tr>
+    <tr><td class="paramname">filled</td><td>bool to set fill. True = face visible, False = outline visible </td></tr>
+    <tr><td class="paramname">timeout</td><td>time in seconds after which the object should be removed from buffer </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af36566a7f7267a2cdb167a533e4cb856"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af36566a7f7267a2cdb167a533e4cb856">&#9670;&nbsp;</a></span>setLinesScale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::setLinesScale </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>scale</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>set the thickness of all lines </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">scale</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a284c94fdfec8f359704d92f9ef79cd74"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a284c94fdfec8f359704d92f9ef79cd74">&#9670;&nbsp;</a></span>setParentFrame()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::setParentFrame </td>
+          <td>(</td>
+          <td class="paramtype">const std::string&#160;</td>
+          <td class="paramname"><em>parent_frame</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>set the parent frame_id </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parent_frame</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac613c22b8ed79cd169636e6aafacf2dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac613c22b8ed79cd169636e6aafacf2dc">&#9670;&nbsp;</a></span>setPointsScale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::BatchVisualizer::setPointsScale </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>scale</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>set the scale of all points </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">scale</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="batch__visualizer_8h_source.html">batch_visualizer.h</a></li>
+<li>src/batch_visualizer/batch_visualizer.cpp</li>
+</ul>
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">BatchVisualizer</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+var classmrs__lib_1_1BatchVisualizer =
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+    [ "~BatchVisualizer", "classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459", null ],
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+    [ "addCone", "classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7", null ],
+    [ "addCuboid", "classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051", null ],
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+    [ "addRay", "classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a", null ],
+    [ "addRectangle", "classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73", null ],
+    [ "addTrajectory", "classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063", null ],
+    [ "addTriangle", "classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677", null ],
+    [ "clearBuffers", "classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f", null ],
+    [ "clearVisuals", "classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb", null ],
+    [ "publish", "classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b", null ],
+    [ "setLinesScale", "classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856", null ],
+    [ "setParentFrame", "classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74", null ],
+    [ "setPointsScale", "classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc", null ]
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1DKF.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::DKF Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">A_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">B_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#ad7e6756be6a89592151d092f20d19811">Base_class</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc,[[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">correctLine</a>(const statecov_t &amp;sc, const pt3_t &amp;line_origin, const vec3_t &amp;line_direction, const double line_variance) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>covariance_predict</b>(const A_t &amp;A, const P_t &amp;P, const Q_t &amp;Q, const double dt) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">DKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec">DKF</a>(const A_t &amp;A, const B_t &amp;B)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">H_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a87d3b7863fbd0b392f9c831fcaf8e345">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a266b963fd1ed94246fc413ecfa510e54">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>mat2_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>mat3_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a1c8d43906017aca20230464f87c0a28c">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#afffd4a1421cb0ca08f75cd10c7cc2c78">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#aa351bed9f3bdac26c6ed2526a5b2ac01">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q,[[maybe_unused]] double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pt3_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a59afcc2127ecd2a9dba8a53ca505f97a">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a6c1a5e6a6cdcb52271774b566957f948">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x,[[maybe_unused]] const B_t &amp;B,[[maybe_unused]] const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, const B_t &amp;B, const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a5998af081256d469dbd4ac5a1d4d7fd7">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>vec3_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#a094cf9bcb768de6db47e4c2703bede20">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html#ad919f1d7a6f5d8be7361a8336aa6fd85">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1DKF.html">mrs_lib::DKF</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1DKF.html b/classmrs__lib_1_1DKF.html
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1DKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::DKF Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the Degenerate measurement Linear Kalman filter.  
+ <a href="classmrs__lib_1_1DKF.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="dkf_8h_source.html">dkf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::DKF:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1DKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1DKF_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1DKF_inherit__map" id="mrs__lib_1_1DKF_inherit__map">
+<area shape="rect" title="Implementation of the Degenerate measurement Linear Kalman filter." alt="" coords="41,184,147,211"/>
+<area shape="rect" href="classmrs__lib_1_1LKF.html" title=" " alt="" coords="5,109,183,136"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="13,5,175,61"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::DKF:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1DKF__coll__graph.png" border="0" usemap="#mrs__lib_1_1DKF_coll__map" alt="Collaboration graph"/></div>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>pt3_t</b> = mrs_lib::geometry::vec3_t</td></tr>
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+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a></td></tr>
+<tr class="memdesc:aa5c83985c5c7685ebe2af0e445fbc0ad inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">System transition matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:aa5c83985c5c7685ebe2af0e445fbc0ad inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5ca7805e401bd7b718b510269a6ce7bf inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a5ca7805e401bd7b718b510269a6ce7bf"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">m</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a></td></tr>
+<tr class="memdesc:a5ca7805e401bd7b718b510269a6ce7bf inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input to state mapping matrix type <img class="formulaInl" alt="$n \times m$" src="form_8.png"/>. <br /></td></tr>
+<tr class="separator:a5ca7805e401bd7b718b510269a6ce7bf inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78733a13f277480c5c8c42228d440df7 inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a78733a13f277480c5c8c42228d440df7"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a></td></tr>
+<tr class="memdesc:a78733a13f277480c5c8c42228d440df7 inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">State to measurement mapping matrix type <img class="formulaInl" alt="$p \times n$" src="form_9.png"/>. <br /></td></tr>
+<tr class="separator:a78733a13f277480c5c8c42228d440df7 inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a33b80f4e1b9b7eb7243b71a4ae6d99c6"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a></td></tr>
+<tr class="memdesc:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix type <img class="formulaInl" alt="$n \times p$" src="form_10.png"/>. <br /></td></tr>
+<tr class="separator:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a5b8f47081daf208496a19a4364e6509c"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a></td></tr>
+<tr class="memdesc:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ad92ac4f280e849986554bc593e5ab96e"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a></td></tr>
+<tr class="memdesc:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a0825f38a6a4ddc522239bb7bf6279737"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a></td></tr>
+<tr class="memdesc:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a8f5e50ea6668129218bd4113f4ffdf6f"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a></td></tr>
+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a1e4c8aa79cfcea707876d85950132450"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a></td></tr>
+<tr class="memdesc:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a75bd345a8f4e3856d35d23d3b85b12cd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">DKF</a> ()</td></tr>
+<tr class="memdesc:a75bd345a8f4e3856d35d23d3b85b12cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">More...</a><br /></td></tr>
+<tr class="separator:a75bd345a8f4e3856d35d23d3b85b12cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68c0d27c7ae1897c6b54cea9e75b95ec"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec">DKF</a> (const <a class="el" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>)</td></tr>
+<tr class="memdesc:a68c0d27c7ae1897c6b54cea9e75b95ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec">More...</a><br /></td></tr>
+<tr class="separator:a68c0d27c7ae1897c6b54cea9e75b95ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7e5d887496dea33a60b8cf2a0acc5fec"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">correctLine</a> (const <a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a> &amp;sc, const pt3_t &amp;line_origin, const vec3_t &amp;line_direction, const double line_variance) const</td></tr>
+<tr class="memdesc:a7e5d887496dea33a60b8cf2a0acc5fec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">More...</a><br /></td></tr>
+<tr class="separator:a7e5d887496dea33a60b8cf2a0acc5fec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td></tr>
+<tr class="memitem:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a> ()</td></tr>
+<tr class="memdesc:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">More...</a><br /></td></tr>
+<tr class="separator:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">More...</a><br /></td></tr>
+<tr class="separator:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
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+<tr class="separator:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="aa4c613d999ab084a171b8b2a928c8cf4"></a>
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+<tr class="separator:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="ace42cf1b23654e1090219ed1a532476d"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>invert_W</b> (<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> W)</td></tr>
+<tr class="separator:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Implementation of the Degenerate measurement Linear Kalman filter. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">n_states</td><td>number of states of the system (length of the <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_inputs</td><td>number of inputs of the system (length of the <img class="formulaInl" alt="$ \mathbf{u} $" src="form_1.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_measurements</td><td>number of measurements of the system (length of the <img class="formulaInl" alt="$ \mathbf{z} $" src="form_2.png"/> vector). </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a75bd345a8f4e3856d35d23d3b85b12cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75bd345a8f4e3856d35d23d3b85b12cd">&#9670;&nbsp;</a></span>DKF() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::DKF::DKF </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience default constructor. </p>
+<p>This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, before using this class, otherwise the <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a> object is invalid (not initialized). </p>
+
+</div>
+</div>
+<a id="a68c0d27c7ae1897c6b54cea9e75b95ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68c0d27c7ae1897c6b54cea9e75b95ec">&#9670;&nbsp;</a></span>DKF() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::DKF::DKF </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">A_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">B_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">A</td><td>The state transition matrix. </td></tr>
+    <tr><td class="paramname">B</td><td>The input to state mapping transition matrix. </td></tr>
+    <tr><td class="paramname">H</td><td>The state to measurement mapping transition matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7e5d887496dea33a60b8cf2a0acc5fec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e5d887496dea33a60b8cf2a0acc5fec">&#9670;&nbsp;</a></span>correctLine()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a> mrs_lib::DKF::correctLine </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const pt3_t &amp;&#160;</td>
+          <td class="paramname"><em>line_origin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>line_direction</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>line_variance</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the correction (update, measurement, data) step of the Kalman filter. </p>
+<p>This method applies the linear Kalman filter correction step to the state and covariance passed in <code>sc</code> using the measurement <code>z</code> and measurement noise <code>R</code>. The parameter <code>param</code> is ignored in this implementation. The updated state and covariance after the correction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the correction step is to be applied. </td></tr>
+    <tr><td class="paramname">z</td><td>The measurement vector to be used for correction. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix to be used for correction. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the correction update. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="dkf_8h_source.html">dkf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1DKF.html">DKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "u_t", "classmrs__lib_1_1DKF.html#a5998af081256d469dbd4ac5a1d4d7fd7", null ],
+    [ "vec3_t", "classmrs__lib_1_1DKF.html#ade9f06e25f9c50c5c7c19628afefd454", null ],
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+    [ "DKF", "classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd", null ],
+    [ "DKF", "classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec", null ],
+    [ "correctLine", "classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec", null ]
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new file mode 100644
index 00000000..9aed0a8c
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+++ b/classmrs__lib_1_1DKF__inherit__graph.map
@@ -0,0 +1,5 @@
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diff --git a/classmrs__lib_1_1DKF__inherit__graph.md5 b/classmrs__lib_1_1DKF__inherit__graph.md5
new file mode 100644
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::DynamicPublisher Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a2c671b4d99d4bb6bde12e7a1d8717687">DynamicPublisher</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a6a17d49f4d7203f8b8693c6ceb2fb1d9">DynamicPublisher</a>(const ros::NodeHandle &amp;nh)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">publish</a>(const std::string name, const T &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a></td><td class="entry"></td></tr>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+ </tr>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1DynamicPublisher-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::DynamicPublisher Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>A helper class for easy publishing of ROS messages for debugging purposes.  
+ <a href="classmrs__lib_1_1DynamicPublisher.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="dynamic__publisher_8h_source.html">dynamic_publisher.h</a>&gt;</code></p>
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+<tr class="memitem:a2c671b4d99d4bb6bde12e7a1d8717687"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a2c671b4d99d4bb6bde12e7a1d8717687">DynamicPublisher</a> ()</td></tr>
+<tr class="memdesc:a2c671b4d99d4bb6bde12e7a1d8717687"><td class="mdescLeft">&#160;</td><td class="mdescRight">A no-parameter constructor.  <a href="classmrs__lib_1_1DynamicPublisher.html#a2c671b4d99d4bb6bde12e7a1d8717687">More...</a><br /></td></tr>
+<tr class="separator:a2c671b4d99d4bb6bde12e7a1d8717687"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a17d49f4d7203f8b8693c6ceb2fb1d9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a6a17d49f4d7203f8b8693c6ceb2fb1d9">DynamicPublisher</a> (const ros::NodeHandle &amp;nh)</td></tr>
+<tr class="memdesc:a6a17d49f4d7203f8b8693c6ceb2fb1d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1DynamicPublisher.html#a6a17d49f4d7203f8b8693c6ceb2fb1d9">More...</a><br /></td></tr>
+<tr class="separator:a6a17d49f4d7203f8b8693c6ceb2fb1d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a57946b630bcf2892658f754ecb6b735d"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:a57946b630bcf2892658f754ecb6b735d"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">publish</a> (const std::string name, const T &amp;msg)</td></tr>
+<tr class="memdesc:a57946b630bcf2892658f754ecb6b735d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Publishes a message to a topic, advertising the topic if necessary.  <a href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">More...</a><br /></td></tr>
+<tr class="separator:a57946b630bcf2892658f754ecb6b735d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A helper class for easy publishing of ROS messages for debugging purposes. </p>
+<p>This class enables you to just call the <a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d" title="Publishes a message to a topic, advertising the topic if necessary.">publish()</a> method with a topic name and a message without the need to advertise the topic.</p>
+<dl class="section note"><dt>Note</dt><dd>This class should only be used for debugging and not for regular publishing as it introduces some overhead. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="dynamic_publisher_2example_8cpp-example.html#_a0">dynamic_publisher/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2c671b4d99d4bb6bde12e7a1d8717687"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c671b4d99d4bb6bde12e7a1d8717687">&#9670;&nbsp;</a></span>DynamicPublisher() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::DynamicPublisher::DynamicPublisher </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A no-parameter constructor. </p>
+<p>This overload will use a ros::NodeHandle with default arguments for advertising new topics, so remappings, namespaces etc. will be ignored. </p>
+
+</div>
+</div>
+<a id="a6a17d49f4d7203f8b8693c6ceb2fb1d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a17d49f4d7203f8b8693c6ceb2fb1d9">&#9670;&nbsp;</a></span>DynamicPublisher() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::DynamicPublisher::DynamicPublisher </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<p>This overload uses the ros::NodeHandle that you provided for advertising new topics. The recommended way of constructing a <a class="el" href="classmrs__lib_1_1DynamicPublisher.html" title="A helper class for easy publishing of ROS messages for debugging purposes.">DynamicPublisher</a>. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a57946b630bcf2892658f754ecb6b735d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57946b630bcf2892658f754ecb6b735d">&#9670;&nbsp;</a></span>publish()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::DynamicPublisher::publish </td>
+          <td>(</td>
+          <td class="paramtype">const std::string&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>msg</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Publishes a message to a topic, advertising the topic if necessary. </p>
+<p>The topic is advertised with the type of the first message published to it. If you try to publish a different type of message on the topic, it will be ignored.</p>
+<dl class="section warning"><dt>Warning</dt><dd>Take care to always publish the same message type to the topic to avoid being spammed with errors. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="dynamic_publisher_2example_8cpp-example.html#a1">dynamic_publisher/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="dynamic__publisher_8h_source.html">dynamic_publisher.h</a></li>
+<li>src/dynamic_publisher/dynamic_publisher.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html">DynamicPublisher</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "DynamicPublisher", "classmrs__lib_1_1DynamicPublisher.html#a6a17d49f4d7203f8b8693c6ceb2fb1d9", null ],
+    [ "publish", "classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d", null ]
+];
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<script type="text/javascript" src="menudata.js"></script>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>config</b> (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>DynamicReconfigureMgr</b>(const ros::NodeHandle &amp;nh=ros::NodeHandle(&quot;~&quot;), bool print_values=true, std::string node_name=std::string(), const callback_t &amp;user_callback={}) (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>DynamicReconfigureMgr</b>(const ros::NodeHandle &amp;nh, std::string node_name) (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>DynamicReconfigureMgr</b>(const ros::NodeHandle &amp;nh, const char *node_name) (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>DynamicReconfigureMgr</b>(std::string node_name) (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>loaded_successfully</b>() (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>publish_descriptions</b>() (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>update_config</b>(const ConfigType &amp;cfg) (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>update_config</b>() (defined in <a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div id="doc-content">
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1DynamicReconfigureMgr-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="dynamic__reconfigure__mgr_8h_source.html">dynamic_reconfigure_mgr.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2f7e6a43035ce3066bf01e42cab37030"><td class="memItemLeft" align="right" valign="top"><a id="a2f7e6a43035ce3066bf01e42cab37030"></a>
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+<div class="title">mrs_lib::EulerAttitude Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521">EulerAttitude</a>(const double &amp;roll, const double &amp;pitch, const double &amp;yaw)</td><td class="entry"><a class="el" href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">yaw</a>(void) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1EulerAttitude.html">mrs_lib::EulerAttitude</a></td><td class="entry"></td></tr>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1EulerAttitude-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::EulerAttitude Class Reference</div>  </div>
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+<div class="contents">
+
+<p>A small class for storing the Euler angles.  
+ <a href="classmrs__lib_1_1EulerAttitude.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
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+<tr class="memitem:ac4da09217c4956043801841737da8521"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521">EulerAttitude</a> (const double &amp;<a class="el" href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">roll</a>, const double &amp;<a class="el" href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">pitch</a>, const double &amp;<a class="el" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">yaw</a>)</td></tr>
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+<tr class="separator:ac4da09217c4956043801841737da8521"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d62c8be0341555c3e03e124a617d765"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">roll</a> (void) const</td></tr>
+<tr class="memdesc:a7d62c8be0341555c3e03e124a617d765"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the roll angle  <a href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">More...</a><br /></td></tr>
+<tr class="separator:a7d62c8be0341555c3e03e124a617d765"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbed482a509d21505dfd1e608cd362fe"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">pitch</a> (void) const</td></tr>
+<tr class="memdesc:abbed482a509d21505dfd1e608cd362fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the pitch angle  <a href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">More...</a><br /></td></tr>
+<tr class="separator:abbed482a509d21505dfd1e608cd362fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab29c3b0fb567107c23eff485e8f2578d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">yaw</a> (void) const</td></tr>
+<tr class="memdesc:ab29c3b0fb567107c23eff485e8f2578d"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the yaw angle  <a href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">More...</a><br /></td></tr>
+<tr class="separator:ab29c3b0fb567107c23eff485e8f2578d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A simple class for storing the Euler angles. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">roll</td><td></td></tr>
+    <tr><td class="paramname">pitch</td><td></td></tr>
+    <tr><td class="paramname">yaw</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="abbed482a509d21505dfd1e608cd362fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abbed482a509d21505dfd1e608cd362fe">&#9670;&nbsp;</a></span>pitch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::EulerAttitude::pitch </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the pitch angle </p>
+<dl class="section return"><dt>Returns</dt><dd>pitch </dd></dl>
+
+</div>
+</div>
+<a id="a7d62c8be0341555c3e03e124a617d765"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d62c8be0341555c3e03e124a617d765">&#9670;&nbsp;</a></span>roll()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::EulerAttitude::roll </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the roll angle </p>
+<dl class="section return"><dt>Returns</dt><dd>roll </dd></dl>
+
+</div>
+</div>
+<a id="ab29c3b0fb567107c23eff485e8f2578d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab29c3b0fb567107c23eff485e8f2578d">&#9670;&nbsp;</a></span>yaw()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::EulerAttitude::yaw </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the yaw angle </p>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+<li>src/attitude_converter/attitude_converter.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1EulerAttitude.html">EulerAttitude</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
index 00000000..f9e7ce16
--- /dev/null
+++ b/classmrs__lib_1_1EulerAttitude.js
@@ -0,0 +1,7 @@
+var classmrs__lib_1_1EulerAttitude =
+[
+    [ "EulerAttitude", "classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521", null ],
+    [ "pitch", "classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe", null ],
+    [ "roll", "classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765", null ],
+    [ "yaw", "classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d", null ]
+];
\ No newline at end of file
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */</script>
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1IirFilter.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::IirFilter Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1IirFilter.html">mrs_lib::IirFilter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IirFilter</b>(const std::vector&lt; double &gt; &amp;a, const std::vector&lt; double &gt; &amp;b) (defined in <a class="el" href="classmrs__lib_1_1IirFilter.html">mrs_lib::IirFilter</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1IirFilter.html">mrs_lib::IirFilter</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>iterate</b>(const double &amp;input) (defined in <a class="el" href="classmrs__lib_1_1IirFilter.html">mrs_lib::IirFilter</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1IirFilter.html">mrs_lib::IirFilter</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1IirFilter.html b/classmrs__lib_1_1IirFilter.html
new file mode 100644
index 00000000..24043d54
--- /dev/null
+++ b/classmrs__lib_1_1IirFilter.html
@@ -0,0 +1,119 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::IirFilter Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1IirFilter.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1IirFilter-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::IirFilter Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a675dd4ebe1bf007f019a703cd049412e"><td class="memItemLeft" align="right" valign="top"><a id="a675dd4ebe1bf007f019a703cd049412e"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>IirFilter</b> (const std::vector&lt; double &gt; &amp;a, const std::vector&lt; double &gt; &amp;b)</td></tr>
+<tr class="separator:a675dd4ebe1bf007f019a703cd049412e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa304784bf3e3150e89fa1266e35863f9"><td class="memItemLeft" align="right" valign="top"><a id="aa304784bf3e3150e89fa1266e35863f9"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>iterate</b> (const double &amp;input)</td></tr>
+<tr class="separator:aa304784bf3e3150e89fa1266e35863f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="iir__filter_8h_source.html">iir_filter.h</a></li>
+<li>src/iir_filter/iir_filter.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1IirFilter.html">IirFilter</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "iterate", "classmrs__lib_1_1IirFilter.html#aa304784bf3e3150e89fa1266e35863f9", null ]
+];
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1ImagePublisher.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::ImagePublisher Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ImagePublisher.html">mrs_lib::ImagePublisher</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ImagePublisher</b>(ros::NodeHandlePtr nh_) (defined in <a class="el" href="classmrs__lib_1_1ImagePublisher.html">mrs_lib::ImagePublisher</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ImagePublisher.html">mrs_lib::ImagePublisher</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>publish</b>(std::string topic_name, double throttle_period, cv::Mat &amp;image, bool bgr_order=false) (defined in <a class="el" href="classmrs__lib_1_1ImagePublisher.html">mrs_lib::ImagePublisher</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ImagePublisher.html">mrs_lib::ImagePublisher</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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+</html>
diff --git a/classmrs__lib_1_1ImagePublisher.html b/classmrs__lib_1_1ImagePublisher.html
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index 00000000..3f9b2dc6
--- /dev/null
+++ b/classmrs__lib_1_1ImagePublisher.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::ImagePublisher Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1ImagePublisher.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ImagePublisher-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ImagePublisher Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a00ec635f8012086fc7df35d06bb1d4b5"><td class="memItemLeft" align="right" valign="top"><a id="a00ec635f8012086fc7df35d06bb1d4b5"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>ImagePublisher</b> (ros::NodeHandlePtr nh_)</td></tr>
+<tr class="separator:a00ec635f8012086fc7df35d06bb1d4b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad95770e8691002b0443b73806a9fe76a"><td class="memItemLeft" align="right" valign="top"><a id="ad95770e8691002b0443b73806a9fe76a"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>publish</b> (std::string topic_name, double throttle_period, cv::Mat &amp;image, bool bgr_order=false)</td></tr>
+<tr class="separator:ad95770e8691002b0443b73806a9fe76a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="image__publisher_8h_source.html">image_publisher.h</a></li>
+<li>src/image_publisher/image_publisher.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1ImagePublisher.html">ImagePublisher</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1ImagePublisher.js b/classmrs__lib_1_1ImagePublisher.js
new file mode 100644
index 00000000..4cd8d500
--- /dev/null
+++ b/classmrs__lib_1_1ImagePublisher.js
@@ -0,0 +1,5 @@
+var classmrs__lib_1_1ImagePublisher =
+[
+    [ "ImagePublisher", "classmrs__lib_1_1ImagePublisher.html#a00ec635f8012086fc7df35d06bb1d4b5", null ],
+    [ "publish", "classmrs__lib_1_1ImagePublisher.html#ad95770e8691002b0443b73806a9fe76a", null ]
+];
\ No newline at end of file
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1JLKF.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">A_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">B_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Base_class</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">C_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, [[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H, double &amp;nis, H_t &amp;H_out, const double &amp;nis_thr, const double &amp;nis_avg_thr) const (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">mrs_lib::KalmanFilterAloamGarm::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#ac047c1625da963988acfc47edc200a57">D_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>generateA_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>generateB_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">JLKF</a>(const generateA_t &amp;generateA, const generateB_t &amp;generateB, const H_t &amp;H, const ros::NodeHandle &amp;nh, const double &amp;nis_thr, const double &amp;nis_avg_thr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m</b> (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>n</b> (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>p</b> (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>P_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">mrs_lib::KalmanFilterAloamGarm::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Q_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>R_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>statecov_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>u_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>x_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>z_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+<title>mrs_lib: mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-static-methods">Static Protected Member Functions</a> &#124;
+<a href="classmrs__lib_1_1JLKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1JLKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1JLKF_3_01n__states_00_01n__inputs_00_01n__measurements_00_01n__biases_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1JLKF__coll__graph.png" border="0" usemap="#mrs__lib_1_1JLKF_3_01n__states_00_01n__inputs_00_01n__measurements_00_01n__biases_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1JLKF_3_01n__states_00_01n__inputs_00_01n__measurements_00_01n__biases_01_4_coll__map" id="mrs__lib_1_1JLKF_3_01n__states_00_01n__inputs_00_01n__measurements_00_01n__biases_01_4_coll__map">
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html">inverse_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This exception is thrown when taking the inverse of a matrix fails.  <a href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+<tr class="memitem:a7a362bd5a3713025f631d2694d63e52d"><td class="memItemLeft" align="right" valign="top"><a id="a7a362bd5a3713025f631d2694d63e52d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Base_class</b> = <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">KalmanFilterAloamGarm</a>&lt; n, m, p &gt;</td></tr>
+<tr class="separator:a7a362bd5a3713025f631d2694d63e52d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>x_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">Base_class::x_t</a></td></tr>
+<tr class="separator:a13187c4d74326b888098a956811b9dc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a583b079513c03b057857d6a81c023de1"><td class="memItemLeft" align="right" valign="top"><a id="a583b079513c03b057857d6a81c023de1"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>u_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">Base_class::u_t</a></td></tr>
+<tr class="separator:a583b079513c03b057857d6a81c023de1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>z_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">Base_class::z_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>P_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">Base_class::P_t</a></td></tr>
+<tr class="separator:a554f05f2ecc9d93ce5c24a351fd92ffb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>R_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">Base_class::R_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>statecov_t</b> = typename <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">Base_class::statecov_t</a></td></tr>
+<tr class="separator:a62e33a1002c24ac5624faf8bede53606"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afdb5e239ba807f51c141a66e0c1531a2"><td class="memItemLeft" align="right" valign="top"><a id="afdb5e239ba807f51c141a66e0c1531a2"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Q_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Base_class::Q_t</a></td></tr>
+<tr class="separator:afdb5e239ba807f51c141a66e0c1531a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+typedef Eigen::Matrix&lt; double, n, n &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">A_t</a></td></tr>
+<tr class="memdesc:a72ceb375903022d0dfc396b6f1ead479"><td class="mdescLeft">&#160;</td><td class="mdescRight">System transition matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a72ceb375903022d0dfc396b6f1ead479"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+typedef Eigen::Matrix&lt; double, n, m &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">B_t</a></td></tr>
+<tr class="memdesc:ac8971eebc826cd62aadd45d4b64d216c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input to state mapping matrix type <img class="formulaInl" alt="$n \times m$" src="form_8.png"/>. <br /></td></tr>
+<tr class="separator:ac8971eebc826cd62aadd45d4b64d216c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+typedef Eigen::Matrix&lt; double, p, n &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a></td></tr>
+<tr class="memdesc:a7599ec962b434fe92534a58d48cdfacb"><td class="mdescLeft">&#160;</td><td class="mdescRight">State to measurement mapping matrix type <img class="formulaInl" alt="$p \times n$" src="form_9.png"/>. <br /></td></tr>
+<tr class="separator:a7599ec962b434fe92534a58d48cdfacb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a20be98f26b355640d078f196f9495fd5"><td class="memItemLeft" align="right" valign="top"><a id="a20be98f26b355640d078f196f9495fd5"></a>
+typedef Eigen::Matrix&lt; double, n, p &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a></td></tr>
+<tr class="memdesc:a20be98f26b355640d078f196f9495fd5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix type <img class="formulaInl" alt="$n \times p$" src="form_10.png"/>. <br /></td></tr>
+<tr class="separator:a20be98f26b355640d078f196f9495fd5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af34d34f55cb8804bd4e873a16c9e9a08"><td class="memItemLeft" align="right" valign="top"><a id="af34d34f55cb8804bd4e873a16c9e9a08"></a>
+typedef Eigen::Matrix&lt; double, p, p &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">C_t</a></td></tr>
+<tr class="memdesc:af34d34f55cb8804bd4e873a16c9e9a08"><td class="mdescLeft">&#160;</td><td class="mdescRight">correntropy gain <img class="formulaInl" alt="$p \times p$" src="form_7.png"/> <br /></td></tr>
+<tr class="separator:af34d34f55cb8804bd4e873a16c9e9a08"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac047c1625da963988acfc47edc200a57"><td class="memItemLeft" align="right" valign="top"><a id="ac047c1625da963988acfc47edc200a57"></a>
+typedef Eigen::Matrix&lt; double, n, n &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#ac047c1625da963988acfc47edc200a57">D_t</a></td></tr>
+<tr class="memdesc:ac047c1625da963988acfc47edc200a57"><td class="mdescLeft">&#160;</td><td class="mdescRight">D <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ac047c1625da963988acfc47edc200a57"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>generateA_t</b> = std::function&lt; <a class="el" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">A_t</a>(double)&gt;</td></tr>
+<tr class="separator:ac35cdcce67580306048f3faf848c52ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa346736b0780db11650afa85c8837fdc"><td class="memItemLeft" align="right" valign="top"><a id="aa346736b0780db11650afa85c8837fdc"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>generateB_t</b> = std::function&lt; <a class="el" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">B_t</a>(double)&gt;</td></tr>
+<tr class="separator:aa346736b0780db11650afa85c8837fdc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1KalmanFilterAloamGarm')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a0e19e15226a8e251452cd486153fba12 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="a0e19e15226a8e251452cd486153fba12"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">x_t</a></td></tr>
+<tr class="memdesc:a0e19e15226a8e251452cd486153fba12 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a0e19e15226a8e251452cd486153fba12 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae680d65b40883e1678e0365ed3924c16 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="ae680d65b40883e1678e0365ed3924c16"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a></td></tr>
+<tr class="memdesc:ae680d65b40883e1678e0365ed3924c16 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ae680d65b40883e1678e0365ed3924c16 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7fc4baaa223bf1ccebebc20c4b02bcc inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="ae7fc4baaa223bf1ccebebc20c4b02bcc"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a></td></tr>
+<tr class="memdesc:ae7fc4baaa223bf1ccebebc20c4b02bcc inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:ae7fc4baaa223bf1ccebebc20c4b02bcc inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b8488ef81812059a366fcc2e92e04f6 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="a9b8488ef81812059a366fcc2e92e04f6"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">P_t</a></td></tr>
+<tr class="memdesc:a9b8488ef81812059a366fcc2e92e04f6 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a9b8488ef81812059a366fcc2e92e04f6 inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6bf1e91bfeb633b08038f54b2b5d0fa inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="ab6bf1e91bfeb633b08038f54b2b5d0fa"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a></td></tr>
+<tr class="memdesc:ab6bf1e91bfeb633b08038f54b2b5d0fa inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:ab6bf1e91bfeb633b08038f54b2b5d0fa inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab9efcd795fc6c47ef94c20f9ff9547dc inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="ab9efcd795fc6c47ef94c20f9ff9547dc"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a></td></tr>
+<tr class="memdesc:ab9efcd795fc6c47ef94c20f9ff9547dc inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab9efcd795fc6c47ef94c20f9ff9547dc inherit pub_types_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a0c21f3599fe8ccfb1164ee204a0ae606"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">JLKF</a> (const generateA_t &amp;generateA, const generateB_t &amp;generateB, const <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a> &amp;H, const ros::NodeHandle &amp;nh, const double &amp;nis_thr, const double &amp;nis_avg_thr)</td></tr>
+<tr class="memdesc:a0c21f3599fe8ccfb1164ee204a0ae606"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">More...</a><br /></td></tr>
+<tr class="separator:a0c21f3599fe8ccfb1164ee204a0ae606"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb856c6a2d7378bc6abd46af99efe580"><td class="memItemLeft" align="right" valign="top">virtual statecov_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">predict</a> (const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</td></tr>
+<tr class="memdesc:acb856c6a2d7378bc6abd46af99efe580"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">More...</a><br /></td></tr>
+<tr class="separator:acb856c6a2d7378bc6abd46af99efe580"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6aa1475ecb42a4ee97e8d7e93cb5c523"><td class="memItemLeft" align="right" valign="top">virtual statecov_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">correct</a> (const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td></tr>
+<tr class="memdesc:a6aa1475ecb42a4ee97e8d7e93cb5c523"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">More...</a><br /></td></tr>
+<tr class="separator:a6aa1475ecb42a4ee97e8d7e93cb5c523"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a3e541e3ec53df99c77f8cc7031728d6f inherit pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a> &amp;R) const =0</td></tr>
+<tr class="memdesc:a3e541e3ec53df99c77f8cc7031728d6f inherit pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">More...</a><br /></td></tr>
+<tr class="separator:a3e541e3ec53df99c77f8cc7031728d6f inherit pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a139f8d4f64e9e45ca68b9141ecae8c99 inherit pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">predict</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a> &amp;Q, double dt) const =0</td></tr>
+<tr class="memdesc:a139f8d4f64e9e45ca68b9141ecae8c99 inherit pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">More...</a><br /></td></tr>
+<tr class="separator:a139f8d4f64e9e45ca68b9141ecae8c99 inherit pub_methods_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ad25e458741c09e0718e325ac82771665"><td class="memItemLeft" align="right" valign="top"><a id="ad25e458741c09e0718e325ac82771665"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>n</b> = n_states</td></tr>
+<tr class="separator:ad25e458741c09e0718e325ac82771665"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63b9903a4ed5a74082eb764f4529627b"><td class="memItemLeft" align="right" valign="top"><a id="a63b9903a4ed5a74082eb764f4529627b"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>m</b> = n_inputs</td></tr>
+<tr class="separator:a63b9903a4ed5a74082eb764f4529627b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0ed0521c593626be2ff0b7a42cd59da3"><td class="memItemLeft" align="right" valign="top"><a id="a0ed0521c593626be2ff0b7a42cd59da3"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>p</b> = n_measurements</td></tr>
+<tr class="separator:a0ed0521c593626be2ff0b7a42cd59da3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a7b9714f54a6ec03679cf3af571e4219a inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="a7b9714f54a6ec03679cf3af571e4219a"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> = n_states</td></tr>
+<tr class="memdesc:a7b9714f54a6ec03679cf3af571e4219a inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector of the system. <br /></td></tr>
+<tr class="separator:a7b9714f54a6ec03679cf3af571e4219a inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a336bd0445bfa4ca091dda05d0f83757b inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="a336bd0445bfa4ca091dda05d0f83757b"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">m</a> = n_inputs</td></tr>
+<tr class="memdesc:a336bd0445bfa4ca091dda05d0f83757b inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the input vector of the system. <br /></td></tr>
+<tr class="separator:a336bd0445bfa4ca091dda05d0f83757b inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aade8833d5835d0ee12be558e16fe595a inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memItemLeft" align="right" valign="top"><a id="aade8833d5835d0ee12be558e16fe595a"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a> = n_measurements</td></tr>
+<tr class="memdesc:aade8833d5835d0ee12be558e16fe595a inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the measurement vector of the system. <br /></td></tr>
+<tr class="separator:aade8833d5835d0ee12be558e16fe595a inherit pub_static_attribs_classmrs__lib_1_1KalmanFilterAloamGarm"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a06fc93782bb0f77f5f5d3400e785d729"><td class="memItemLeft" align="right" valign="top"><a id="a06fc93782bb0f77f5f5d3400e785d729"></a>
+virtual <a class="el" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeKalmanGain</b> (const statecov_t &amp;sc, [[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a> &amp;H, double &amp;nis, <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a> &amp;H_out, const double &amp;nis_thr, const double &amp;nis_avg_thr) const</td></tr>
+<tr class="separator:a06fc93782bb0f77f5f5d3400e785d729"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0a877719d7fb1bcf4fd03e063eaea3d2"><td class="memItemLeft" align="right" valign="top"><a id="a0a877719d7fb1bcf4fd03e063eaea3d2"></a>
+statecov_t ::type&#160;</td><td class="memItemRight" valign="bottom"><b>correction_impl</b> (const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a> &amp;H) const</td></tr>
+<tr class="separator:a0a877719d7fb1bcf4fd03e063eaea3d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-methods"></a>
+Static Protected Member Functions</h2></td></tr>
+<tr class="memitem:a63bcbec553b4f2c609f9cc506be643e2"><td class="memItemLeft" align="right" valign="top"><a id="a63bcbec553b4f2c609f9cc506be643e2"></a>
+static R_t&#160;</td><td class="memItemRight" valign="bottom"><b>invert_W</b> (R_t W)</td></tr>
+<tr class="separator:a63bcbec553b4f2c609f9cc506be643e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0c21f3599fe8ccfb1164ee204a0ae606"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c21f3599fe8ccfb1164ee204a0ae606">&#9670;&nbsp;</a></span>JLKF()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements, int n_biases&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF</a>&lt; n_states, n_inputs, n_measurements, n_biases &gt;::<a class="el" href="classmrs__lib_1_1JLKF.html">JLKF</a> </td>
+          <td>(</td>
+          <td class="paramtype">const generateA_t &amp;&#160;</td>
+          <td class="paramname"><em>generateA</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const generateB_t &amp;&#160;</td>
+          <td class="paramname"><em>generateB</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>H</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>nis_thr</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>nis_avg_thr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">generateA</td><td>a function, which returns the state transition matrix <code>A</code> based on the time difference <code>dt</code>. </td></tr>
+    <tr><td class="paramname">generateB</td><td>a function, which returns the input to state mapping matrix <code>B</code> based on the time difference <code>dt</code>. </td></tr>
+    <tr><td class="paramname">H</td><td>the state to measurement mapping matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6aa1475ecb42a4ee97e8d7e93cb5c523"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6aa1475ecb42a4ee97e8d7e93cb5c523">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements, int n_biases&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual statecov_t <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF</a>&lt; n_states, n_inputs, n_measurements, n_biases &gt;::correct </td>
+          <td>(</td>
+          <td class="paramtype">const statecov_t &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const z_t &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const R_t &amp;&#160;</td>
+          <td class="paramname"><em>R</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the correction (update, measurement, data) step of the Kalman filter. </p>
+<p>This method applies the linear Kalman filter correction step to the state and covariance passed in <code>sc</code> using the measurement <code>z</code> and measurement noise <code>R</code>. The updated state and covariance after the correction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the correction step is to be applied. </td></tr>
+    <tr><td class="paramname">z</td><td>The measurement vector to be used for correction. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix to be used for correction. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the correction update. </dd></dl>
+
+</div>
+</div>
+<a id="acb856c6a2d7378bc6abd46af99efe580"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb856c6a2d7378bc6abd46af99efe580">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements, int n_biases&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual statecov_t <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF</a>&lt; n_states, n_inputs, n_measurements, n_biases &gt;::predict </td>
+          <td>(</td>
+          <td class="paramtype">const statecov_t &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const u_t &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Q_t &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>dt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the prediction (time) step of the Kalman filter. </p>
+<p>This method applies the linear Kalman filter prediction step to the state and covariance passed in <code>sc</code> using the input <code>u</code> and process noise <code>Q</code>. The process noise covariance <code>Q</code> is scaled by the <code>dt</code> parameter. The updated state and covariance after the prediction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the prediction step is to be applied. </td></tr>
+    <tr><td class="paramname">u</td><td>The input vector to be used for prediction. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix to be used for prediction. </td></tr>
+    <tr><td class="paramname">dt</td><td>Used to scale the process noise covariance <code>Q</code> and to generate the state transition and input to state mapping matrices <code>A</code> and \B using the functions, passed in the object's constructor. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the prediction step.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>Note that the <code>dt</code> parameter is used to scale the process noise covariance <code>Q</code> and to generate the system matrices #A or #B using the functions, passed in the constructor! </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="jlkf_8h_source.html">jlkf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1JLKF.html">JLKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+var classmrs__lib_1_1JLKF =
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+    [ "B_t", "classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c", null ],
+    [ "Base_class", "classmrs__lib_1_1JLKF.html#a7a362bd5a3713025f631d2694d63e52d", null ],
+    [ "C_t", "classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08", null ],
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+    [ "generateA_t", "classmrs__lib_1_1JLKF.html#ac35cdcce67580306048f3faf848c52ce", null ],
+    [ "generateB_t", "classmrs__lib_1_1JLKF.html#aa346736b0780db11650afa85c8837fdc", null ],
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+    [ "Q_t", "classmrs__lib_1_1JLKF.html#afdb5e239ba807f51c141a66e0c1531a2", null ],
+    [ "R_t", "classmrs__lib_1_1JLKF.html#a34b9b5334801adc3f6a658bfa7767528", null ],
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+    [ "u_t", "classmrs__lib_1_1JLKF.html#a583b079513c03b057857d6a81c023de1", null ],
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+    [ "z_t", "classmrs__lib_1_1JLKF.html#a2ff6765f3b9e0960932433e861222a10", null ],
+    [ "JLKF", "classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606", null ],
+    [ "computeKalmanGain", "classmrs__lib_1_1JLKF.html#a06fc93782bb0f77f5f5d3400e785d729", null ],
+    [ "correct", "classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523", null ],
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new file mode 100644
index 00000000..01e911d5
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+++ b/classmrs__lib_1_1JLKF__inherit__graph.map
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diff --git a/classmrs__lib_1_1JLKF__inherit__graph.md5 b/classmrs__lib_1_1JLKF__inherit__graph.md5
new file mode 100644
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diff --git a/classmrs__lib_1_1KalmanFilter-members.html b/classmrs__lib_1_1KalmanFilter-members.html
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+  <div class="headertitle">
+<div class="title">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
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diff --git a/classmrs__lib_1_1KalmanFilter.html b/classmrs__lib_1_1KalmanFilter.html
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+<title>mrs_lib: mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1KalmanFilter-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This abstract class defines common interfaces and types for a generic Kalman filter.  
+ <a href="classmrs__lib_1_1KalmanFilter.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="kalman__filter_8h_source.html">kalman_filter.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable.  <a href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+<tr class="memitem:a5b8f47081daf208496a19a4364e6509c"><td class="memItemLeft" align="right" valign="top"><a id="a5b8f47081daf208496a19a4364e6509c"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a></td></tr>
+<tr class="memdesc:a5b8f47081daf208496a19a4364e6509c"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5b8f47081daf208496a19a4364e6509c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad92ac4f280e849986554bc593e5ab96e"><td class="memItemLeft" align="right" valign="top"><a id="ad92ac4f280e849986554bc593e5ab96e"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a></td></tr>
+<tr class="memdesc:ad92ac4f280e849986554bc593e5ab96e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
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+<tr class="memitem:a0825f38a6a4ddc522239bb7bf6279737"><td class="memItemLeft" align="right" valign="top"><a id="a0825f38a6a4ddc522239bb7bf6279737"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a></td></tr>
+<tr class="memdesc:a0825f38a6a4ddc522239bb7bf6279737"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
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+<tr class="memitem:a8f5e50ea6668129218bd4113f4ffdf6f"><td class="memItemLeft" align="right" valign="top"><a id="a8f5e50ea6668129218bd4113f4ffdf6f"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a></td></tr>
+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e4c8aa79cfcea707876d85950132450"><td class="memItemLeft" align="right" valign="top"><a id="a1e4c8aa79cfcea707876d85950132450"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a></td></tr>
+<tr class="memdesc:ab2c5ddabe3fc919334595ec1e535c848"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a66c1e0d2e496f304a4f6166e7b894aac"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const =0</td></tr>
+<tr class="memdesc:a66c1e0d2e496f304a4f6166e7b894aac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">More...</a><br /></td></tr>
+<tr class="separator:a66c1e0d2e496f304a4f6166e7b894aac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c8e64828a78d1a680d1ef467633d9d5"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">predict</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const =0</td></tr>
+<tr class="memdesc:a7c8e64828a78d1a680d1ef467633d9d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">More...</a><br /></td></tr>
+<tr class="separator:a7c8e64828a78d1a680d1ef467633d9d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a33bade5cb8e189919bd7c5c7d81a75fd"><td class="memItemLeft" align="right" valign="top"><a id="a33bade5cb8e189919bd7c5c7d81a75fd"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> = n_states</td></tr>
+<tr class="memdesc:a33bade5cb8e189919bd7c5c7d81a75fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector of the system. <br /></td></tr>
+<tr class="separator:a33bade5cb8e189919bd7c5c7d81a75fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a472b37319b5dabb8cd4e4146bd86b8bf"><td class="memItemLeft" align="right" valign="top"><a id="a472b37319b5dabb8cd4e4146bd86b8bf"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a> = n_inputs</td></tr>
+<tr class="memdesc:a472b37319b5dabb8cd4e4146bd86b8bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the input vector of the system. <br /></td></tr>
+<tr class="separator:a472b37319b5dabb8cd4e4146bd86b8bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a72ed6c241094ce2b25fca0a97679a4c7"><td class="memItemLeft" align="right" valign="top"><a id="a72ed6c241094ce2b25fca0a97679a4c7"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> = n_measurements</td></tr>
+<tr class="memdesc:a72ed6c241094ce2b25fca0a97679a4c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the measurement vector of the system. <br /></td></tr>
+<tr class="separator:a72ed6c241094ce2b25fca0a97679a4c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+class mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</h3>
+
+<p>This abstract class defines common interfaces and types for a generic Kalman filter. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">n_states</td><td>number of states of the system (length of the <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_inputs</td><td>number of inputs of the system (length of the <img class="formulaInl" alt="$ \mathbf{u} $" src="form_1.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_measurements</td><td>number of measurements of the system (length of the <img class="formulaInl" alt="$ \mathbf{z} $" src="form_2.png"/> vector). </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a66c1e0d2e496f304a4f6166e7b894aac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66c1e0d2e496f304a4f6166e7b894aac">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter</a>&lt; n_states, n_inputs, n_measurements &gt;::correct </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the correction (update, measurement, data) step of the Kalman filter. </p>
+<p>This method applies the correction step to the state and covariance passed in <code>sc</code> using the measurement <code>z</code> and measurement noise <code>R</code>. An optional parameter <code>param</code> may be used by some implementations, but it is usually ignored. The updated state and covariance after the correction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the correction step is to be applied. </td></tr>
+    <tr><td class="paramname">z</td><td>The measurement vector to be used for correction. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix to be used for correction. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the correction update. </dd></dl>
+
+</div>
+</div>
+<a id="a7c8e64828a78d1a680d1ef467633d9d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c8e64828a78d1a680d1ef467633d9d5">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter</a>&lt; n_states, n_inputs, n_measurements &gt;::predict </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>dt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the prediction (time) step of the Kalman filter. </p>
+<p>This method applies the prediction step to the state and covariance passed in <code>sc</code> using the input <code>u</code> and process noise <code>Q</code>. The state and covariance are updated by <code>dt</code> into the future, if applicable to the implementation. An optional parameter <code>param</code> may be used by some implementations, but it is usually ignored. The updated state and covariance after the prediction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the prediction step is to be applied. </td></tr>
+    <tr><td class="paramname">u</td><td>The input vector to be used for prediction. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix to be used for prediction. </td></tr>
+    <tr><td class="paramname">dt</td><td>The time step for the prediction update (the state and covariance will be predicted by dt into the future). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the prediction step. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="kalman__filter_8h_source.html">kalman_filter.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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--- /dev/null
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+var classmrs__lib_1_1KalmanFilter =
+[
+    [ "statecov_t", "structmrs__lib_1_1KalmanFilter_1_1statecov__t.html", "structmrs__lib_1_1KalmanFilter_1_1statecov__t" ],
+    [ "P_t", "classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f", null ],
+    [ "Q_t", "classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848", null ],
+    [ "R_t", "classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450", null ],
+    [ "u_t", "classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e", null ],
+    [ "x_t", "classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c", null ],
+    [ "z_t", "classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737", null ],
+    [ "correct", "classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac", null ],
+    [ "predict", "classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5", null ]
+];
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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diff --git a/classmrs__lib_1_1KalmanFilterAloamGarm.html b/classmrs__lib_1_1KalmanFilterAloamGarm.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1KalmanFilterAloamGarm-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This abstract class defines common interfaces and types for a generic Kalman filter.  
+ <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="kalman__filter__aloamgarm_8h_source.html">kalman_filter_aloamgarm.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1KalmanFilterAloamGarm__inherit__graph.png" border="0" usemap="#mrs__lib_1_1KalmanFilterAloamGarm_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1KalmanFilterAloamGarm_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" id="mrs__lib_1_1KalmanFilterAloamGarm_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map">
+<area shape="rect" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="13,5,215,61"/>
+<area shape="rect" href="classmrs__lib_1_1JLKF.html" title=" " alt="" coords="5,109,223,151"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable.  <a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a0e19e15226a8e251452cd486153fba12"><td class="memItemLeft" align="right" valign="top"><a id="a0e19e15226a8e251452cd486153fba12"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">x_t</a></td></tr>
+<tr class="memdesc:a0e19e15226a8e251452cd486153fba12"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a0e19e15226a8e251452cd486153fba12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae680d65b40883e1678e0365ed3924c16"><td class="memItemLeft" align="right" valign="top"><a id="ae680d65b40883e1678e0365ed3924c16"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a></td></tr>
+<tr class="memdesc:ae680d65b40883e1678e0365ed3924c16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ae680d65b40883e1678e0365ed3924c16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7fc4baaa223bf1ccebebc20c4b02bcc"><td class="memItemLeft" align="right" valign="top"><a id="ae7fc4baaa223bf1ccebebc20c4b02bcc"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a></td></tr>
+<tr class="memdesc:ae7fc4baaa223bf1ccebebc20c4b02bcc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:ae7fc4baaa223bf1ccebebc20c4b02bcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b8488ef81812059a366fcc2e92e04f6"><td class="memItemLeft" align="right" valign="top"><a id="a9b8488ef81812059a366fcc2e92e04f6"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">P_t</a></td></tr>
+<tr class="memdesc:a9b8488ef81812059a366fcc2e92e04f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a9b8488ef81812059a366fcc2e92e04f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6bf1e91bfeb633b08038f54b2b5d0fa"><td class="memItemLeft" align="right" valign="top"><a id="ab6bf1e91bfeb633b08038f54b2b5d0fa"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a></td></tr>
+<tr class="memdesc:ab6bf1e91bfeb633b08038f54b2b5d0fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:ab6bf1e91bfeb633b08038f54b2b5d0fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab9efcd795fc6c47ef94c20f9ff9547dc"><td class="memItemLeft" align="right" valign="top"><a id="ab9efcd795fc6c47ef94c20f9ff9547dc"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a></td></tr>
+<tr class="memdesc:ab9efcd795fc6c47ef94c20f9ff9547dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab9efcd795fc6c47ef94c20f9ff9547dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3e541e3ec53df99c77f8cc7031728d6f"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a> &amp;R) const =0</td></tr>
+<tr class="memdesc:a3e541e3ec53df99c77f8cc7031728d6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">More...</a><br /></td></tr>
+<tr class="separator:a3e541e3ec53df99c77f8cc7031728d6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a139f8d4f64e9e45ca68b9141ecae8c99"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">predict</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a> &amp;Q, double dt) const =0</td></tr>
+<tr class="memdesc:a139f8d4f64e9e45ca68b9141ecae8c99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">More...</a><br /></td></tr>
+<tr class="separator:a139f8d4f64e9e45ca68b9141ecae8c99"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a7b9714f54a6ec03679cf3af571e4219a"><td class="memItemLeft" align="right" valign="top"><a id="a7b9714f54a6ec03679cf3af571e4219a"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> = n_states</td></tr>
+<tr class="memdesc:a7b9714f54a6ec03679cf3af571e4219a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector of the system. <br /></td></tr>
+<tr class="separator:a7b9714f54a6ec03679cf3af571e4219a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a336bd0445bfa4ca091dda05d0f83757b"><td class="memItemLeft" align="right" valign="top"><a id="a336bd0445bfa4ca091dda05d0f83757b"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">m</a> = n_inputs</td></tr>
+<tr class="memdesc:a336bd0445bfa4ca091dda05d0f83757b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the input vector of the system. <br /></td></tr>
+<tr class="separator:a336bd0445bfa4ca091dda05d0f83757b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aade8833d5835d0ee12be558e16fe595a"><td class="memItemLeft" align="right" valign="top"><a id="aade8833d5835d0ee12be558e16fe595a"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a> = n_measurements</td></tr>
+<tr class="memdesc:aade8833d5835d0ee12be558e16fe595a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the measurement vector of the system. <br /></td></tr>
+<tr class="separator:aade8833d5835d0ee12be558e16fe595a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+class mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</h3>
+
+<p>This abstract class defines common interfaces and types for a generic Kalman filter. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">n_states</td><td>number of states of the system (length of the <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_inputs</td><td>number of inputs of the system (length of the <img class="formulaInl" alt="$ \mathbf{u} $" src="form_1.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_measurements</td><td>number of measurements of the system (length of the <img class="formulaInl" alt="$ \mathbf{z} $" src="form_2.png"/> vector). </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3e541e3ec53df99c77f8cc7031728d6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e541e3ec53df99c77f8cc7031728d6f">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm</a>&lt; n_states, n_inputs, n_measurements &gt;::correct </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the correction (update, measurement, data) step of the Kalman filter. </p>
+<p>This method applies the correction step to the state and covariance passed in <code>sc</code> using the measurement <code>z</code> and measurement noise <code>R</code>. An optional parameter <code>param</code> may be used by some implementations, but it is usually ignored. The updated state and covariance after the correction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the correction step is to be applied. </td></tr>
+    <tr><td class="paramname">z</td><td>The measurement vector to be used for correction. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix to be used for correction. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the correction update. </dd></dl>
+
+</div>
+</div>
+<a id="a139f8d4f64e9e45ca68b9141ecae8c99"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a139f8d4f64e9e45ca68b9141ecae8c99">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm</a>&lt; n_states, n_inputs, n_measurements &gt;::predict </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>dt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the prediction (time) step of the Kalman filter. </p>
+<p>This method applies the prediction step to the state and covariance passed in <code>sc</code> using the input <code>u</code> and process noise <code>Q</code>. The state and covariance are updated by <code>dt</code> into the future, if applicable to the implementation. An optional parameter <code>param</code> may be used by some implementations, but it is usually ignored. The updated state and covariance after the prediction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the prediction step is to be applied. </td></tr>
+    <tr><td class="paramname">u</td><td>The input vector to be used for prediction. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix to be used for prediction. </td></tr>
+    <tr><td class="paramname">dt</td><td>The time step for the prediction update (the state and covariance will be predicted by dt into the future). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the prediction step. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="kalman__filter__aloamgarm_8h_source.html">kalman_filter_aloamgarm.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">KalmanFilterAloamGarm</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
index 00000000..ae589e5a
--- /dev/null
+++ b/classmrs__lib_1_1KalmanFilterAloamGarm.js
@@ -0,0 +1,12 @@
+var classmrs__lib_1_1KalmanFilterAloamGarm =
+[
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+    [ "P_t", "classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6", null ],
+    [ "Q_t", "classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc", null ],
+    [ "R_t", "classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa", null ],
+    [ "u_t", "classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16", null ],
+    [ "x_t", "classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12", null ],
+    [ "z_t", "classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc", null ],
+    [ "correct", "classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f", null ],
+    [ "predict", "classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99", null ]
+];
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new file mode 100644
index 00000000..1f6ec346
--- /dev/null
+++ b/classmrs__lib_1_1KalmanFilterAloamGarm__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;" name="mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;">
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new file mode 100644
index 00000000..590ab51f
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diff --git a/classmrs__lib_1_1LKF-members.html b/classmrs__lib_1_1LKF-members.html
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#ae54a2cc807bafeee1777ffdbd37e3c02">Base_class</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, [[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>covariance_predict</b>(const A_t &amp;A, const P_t &amp;P, const Q_t &amp;Q, const double dt) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, [[maybe_unused]] const B_t &amp;B, [[maybe_unused]] const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, const B_t &amp;B, const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1LKF.html b/classmrs__lib_1_1LKF.html
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+<title>mrs_lib: mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-static-methods">Static Protected Member Functions</a> &#124;
+<a href="classmrs__lib_1_1LKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the Linear Kalman filter <a class="el" href="citelist.html#CITEREF_LKF">[3]</a>.  
+ <a href="classmrs__lib_1_1LKF.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="lkf_8h_source.html">lkf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1LKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1LKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1LKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" id="mrs__lib_1_1LKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map">
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+<area shape="rect" href="classmrs__lib_1_1NCLKF.html" title="This class implements the norm&#45;constrained linear Kalman filter ." alt="" coords="480,13,697,54"/>
+<area shape="rect" href="classmrs__lib_1_1varstepLKF.html" title=" " alt="" coords="509,79,668,135"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="5,43,167,99"/>
+<area shape="rect" href="classmrs__lib_1_1NCLKF__partial.html" title="This class implements the partially norm&#45;constrained linear Kalman filter ." alt="" coords="745,5,916,61"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1LKF__coll__graph.png" border="0" usemap="#mrs__lib_1_1LKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1LKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map" id="mrs__lib_1_1LKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map">
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+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1LKF_1_1inverse__exception.html">inverse_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This exception is thrown when taking the inverse of a matrix fails.  <a href="structmrs__lib_1_1LKF_1_1inverse__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ae54a2cc807bafeee1777ffdbd37e3c02"><td class="memItemLeft" align="right" valign="top"><a id="ae54a2cc807bafeee1777ffdbd37e3c02"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#ae54a2cc807bafeee1777ffdbd37e3c02">Base_class</a> = <a class="el" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a>&lt; <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">m</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> &gt;</td></tr>
+<tr class="memdesc:ae54a2cc807bafeee1777ffdbd37e3c02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class of this class. <br /></td></tr>
+<tr class="separator:ae54a2cc807bafeee1777ffdbd37e3c02"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abfad09fe2386fb87eaea7b4dd8b24409"><td class="memItemLeft" align="right" valign="top"><a id="abfad09fe2386fb87eaea7b4dd8b24409"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">x_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">Base_class::x_t</a></td></tr>
+<tr class="memdesc:abfad09fe2386fb87eaea7b4dd8b24409"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:abfad09fe2386fb87eaea7b4dd8b24409"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98e130a3d14cd93b01b0b942de8af10c"><td class="memItemLeft" align="right" valign="top"><a id="a98e130a3d14cd93b01b0b942de8af10c"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">u_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">Base_class::u_t</a></td></tr>
+<tr class="memdesc:a98e130a3d14cd93b01b0b942de8af10c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:a98e130a3d14cd93b01b0b942de8af10c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4318056f5e0c024651bb882b60ec640"><td class="memItemLeft" align="right" valign="top"><a id="af4318056f5e0c024651bb882b60ec640"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">z_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">Base_class::z_t</a></td></tr>
+<tr class="memdesc:af4318056f5e0c024651bb882b60ec640"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:af4318056f5e0c024651bb882b60ec640"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d5cee075e30da36ffb946cffcfca688"><td class="memItemLeft" align="right" valign="top"><a id="a5d5cee075e30da36ffb946cffcfca688"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">P_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">Base_class::P_t</a></td></tr>
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+<tr class="separator:a5d5cee075e30da36ffb946cffcfca688"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d2cb5ed042b660f1a44bdb9f4d2612f"><td class="memItemLeft" align="right" valign="top"><a id="a5d2cb5ed042b660f1a44bdb9f4d2612f"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">R_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">Base_class::R_t</a></td></tr>
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+<tr class="separator:a5d2cb5ed042b660f1a44bdb9f4d2612f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5df2fd299b9da75a872e8d9194da1ca9"><td class="memItemLeft" align="right" valign="top"><a id="a5df2fd299b9da75a872e8d9194da1ca9"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">Q_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Base_class::Q_t</a></td></tr>
+<tr class="memdesc:a5df2fd299b9da75a872e8d9194da1ca9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a5df2fd299b9da75a872e8d9194da1ca9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54b2b4a3932510daad92da5a2b1274c1"><td class="memItemLeft" align="right" valign="top"><a id="a54b2b4a3932510daad92da5a2b1274c1"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> = typename <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">Base_class::statecov_t</a></td></tr>
+<tr class="memdesc:a54b2b4a3932510daad92da5a2b1274c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable. <br /></td></tr>
+<tr class="separator:a54b2b4a3932510daad92da5a2b1274c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa5c83985c5c7685ebe2af0e445fbc0ad"><td class="memItemLeft" align="right" valign="top"><a id="aa5c83985c5c7685ebe2af0e445fbc0ad"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a></td></tr>
+<tr class="memdesc:aa5c83985c5c7685ebe2af0e445fbc0ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">System transition matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:aa5c83985c5c7685ebe2af0e445fbc0ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5ca7805e401bd7b718b510269a6ce7bf"><td class="memItemLeft" align="right" valign="top"><a id="a5ca7805e401bd7b718b510269a6ce7bf"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">m</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a></td></tr>
+<tr class="memdesc:a5ca7805e401bd7b718b510269a6ce7bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input to state mapping matrix type <img class="formulaInl" alt="$n \times m$" src="form_8.png"/>. <br /></td></tr>
+<tr class="separator:a5ca7805e401bd7b718b510269a6ce7bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78733a13f277480c5c8c42228d440df7"><td class="memItemLeft" align="right" valign="top"><a id="a78733a13f277480c5c8c42228d440df7"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a></td></tr>
+<tr class="memdesc:a78733a13f277480c5c8c42228d440df7"><td class="mdescLeft">&#160;</td><td class="mdescRight">State to measurement mapping matrix type <img class="formulaInl" alt="$p \times n$" src="form_9.png"/>. <br /></td></tr>
+<tr class="separator:a78733a13f277480c5c8c42228d440df7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a33b80f4e1b9b7eb7243b71a4ae6d99c6"><td class="memItemLeft" align="right" valign="top"><a id="a33b80f4e1b9b7eb7243b71a4ae6d99c6"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a></td></tr>
+<tr class="memdesc:a33b80f4e1b9b7eb7243b71a4ae6d99c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix type <img class="formulaInl" alt="$n \times p$" src="form_10.png"/>. <br /></td></tr>
+<tr class="separator:a33b80f4e1b9b7eb7243b71a4ae6d99c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a5b8f47081daf208496a19a4364e6509c"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a></td></tr>
+<tr class="memdesc:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ad92ac4f280e849986554bc593e5ab96e"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a></td></tr>
+<tr class="memdesc:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a0825f38a6a4ddc522239bb7bf6279737"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a></td></tr>
+<tr class="memdesc:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a8f5e50ea6668129218bd4113f4ffdf6f"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a></td></tr>
+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a1e4c8aa79cfcea707876d85950132450"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a></td></tr>
+<tr class="memdesc:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aecd505e79c0102609c9e5ffbd91a7cc3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a> ()</td></tr>
+<tr class="memdesc:aecd505e79c0102609c9e5ffbd91a7cc3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">More...</a><br /></td></tr>
+<tr class="separator:aecd505e79c0102609c9e5ffbd91a7cc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bb9eee4045a176b56c28bc7e0113fa0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:a8bb9eee4045a176b56c28bc7e0113fa0"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">More...</a><br /></td></tr>
+<tr class="separator:a8bb9eee4045a176b56c28bc7e0113fa0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ba4552b6fa909e5d899d2fe8c8fdaa5"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
+<tr class="memdesc:a8ba4552b6fa909e5d899d2fe8c8fdaa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">More...</a><br /></td></tr>
+<tr class="separator:a8ba4552b6fa909e5d899d2fe8c8fdaa5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4027c4bef5dda2a12af1f728e92c45a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, [[maybe_unused]] double dt) const override</td></tr>
+<tr class="memdesc:af4027c4bef5dda2a12af1f728e92c45a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">More...</a><br /></td></tr>
+<tr class="separator:af4027c4bef5dda2a12af1f728e92c45a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const =0</td></tr>
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+<tr class="separator:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0926533d35a53410b4302fda99a45321"><td class="memItemLeft" align="right" valign="top"><a id="a0926533d35a53410b4302fda99a45321"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td></tr>
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+</table><table class="memberdecls">
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+Static Public Attributes</h2></td></tr>
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+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> = n_measurements</td></tr>
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+<tr class="memitem:a33bade5cb8e189919bd7c5c7d81a75fd inherit pub_static_attribs_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a33bade5cb8e189919bd7c5c7d81a75fd"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> = n_states</td></tr>
+<tr class="memdesc:a33bade5cb8e189919bd7c5c7d81a75fd inherit pub_static_attribs_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector of the system. <br /></td></tr>
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+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a> = n_inputs</td></tr>
+<tr class="memdesc:a472b37319b5dabb8cd4e4146bd86b8bf inherit pub_static_attribs_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the input vector of the system. <br /></td></tr>
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+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> = n_measurements</td></tr>
+<tr class="memdesc:a72ed6c241094ce2b25fca0a97679a4c7 inherit pub_static_attribs_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the measurement vector of the system. <br /></td></tr>
+<tr class="separator:a72ed6c241094ce2b25fca0a97679a4c7 inherit pub_static_attribs_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:adcdde06220c8b30b2b74cb50d988c71b"><td class="memItemLeft" align="right" valign="top"><a id="adcdde06220c8b30b2b74cb50d988c71b"></a>
+virtual <a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeKalmanGain</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>) const</td></tr>
+<tr class="separator:adcdde06220c8b30b2b74cb50d988c71b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3fdb4e57a1b930fd7e98f7a2c49aa052"><td class="memItemLeft" align="right" valign="top"><a id="a3fdb4e57a1b930fd7e98f7a2c49aa052"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> ::type&#160;</td><td class="memItemRight" valign="bottom"><b>correction_impl</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>) const</td></tr>
+<tr class="separator:a3fdb4e57a1b930fd7e98f7a2c49aa052"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-methods"></a>
+Static Protected Member Functions</h2></td></tr>
+<tr class="memitem:afb75645dfb197d6a496839ca3079a2d1"><td class="memItemLeft" align="right" valign="top"><a id="afb75645dfb197d6a496839ca3079a2d1"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>covariance_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, const double dt)</td></tr>
+<tr class="separator:afb75645dfb197d6a496839ca3079a2d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce"><td class="memTemplParams" colspan="2"><a id="a5c56c50aa7b8ff77e9a57ee2decbadce"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce"><td class="memTemplItemLeft" align="right" valign="top">static std::enable_if&lt; check==0, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>state_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u)</td></tr>
+<tr class="separator:a5c56c50aa7b8ff77e9a57ee2decbadce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4"><td class="memTemplParams" colspan="2"><a id="aa4c613d999ab084a171b8b2a928c8cf4"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4"><td class="memTemplItemLeft" align="right" valign="top">static std::enable_if&lt; check !=0, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>state_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u)</td></tr>
+<tr class="separator:aa4c613d999ab084a171b8b2a928c8cf4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace42cf1b23654e1090219ed1a532476d"><td class="memItemLeft" align="right" valign="top"><a id="ace42cf1b23654e1090219ed1a532476d"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>invert_W</b> (<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> W)</td></tr>
+<tr class="separator:ace42cf1b23654e1090219ed1a532476d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+class mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</h3>
+
+<p>Implementation of the Linear Kalman filter <a class="el" href="citelist.html#CITEREF_LKF">[3]</a>. </p>
+<p>The Linear Kalman filter (abbreviated <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>, <a class="el" href="citelist.html#CITEREF_LKF">[3]</a>) may be used for state filtration or estimation of linear stochastic discrete systems. It assumes that noise variables are sampled from multivariate gaussian distributions and takes into account apriori known parameters of these distributions (namely zero means and covariance matrices, which have to be specified by the user and are tunable parameters).</p>
+<p>The <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a> C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy, espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of having Eigen::MatrixXd and Eigen::VectorXd everywhere.</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">n_states</td><td>number of states of the system (length of the <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_inputs</td><td>number of inputs of the system (length of the <img class="formulaInl" alt="$ \mathbf{u} $" src="form_1.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_measurements</td><td>number of measurements of the system (length of the <img class="formulaInl" alt="$ \mathbf{z} $" src="form_2.png"/> vector). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="lkf_2example_8cpp-example.html#_a10">lkf/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aecd505e79c0102609c9e5ffbd91a7cc3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecd505e79c0102609c9e5ffbd91a7cc3">&#9670;&nbsp;</a></span>LKF() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1LKF.html">LKF</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience default constructor. </p>
+<p>This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, before using this class, otherwise the <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a> object is invalid (not initialized). </p>
+
+</div>
+</div>
+<a id="a8bb9eee4045a176b56c28bc7e0113fa0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8bb9eee4045a176b56c28bc7e0113fa0">&#9670;&nbsp;</a></span>LKF() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1LKF.html">LKF</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>H</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">A</td><td>The state transition matrix. </td></tr>
+    <tr><td class="paramname">B</td><td>The input to state mapping matrix. </td></tr>
+    <tr><td class="paramname">H</td><td>The state to measurement mapping matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8ba4552b6fa909e5d899d2fe8c8fdaa5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ba4552b6fa909e5d899d2fe8c8fdaa5">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a>&lt; n_states, n_inputs, n_measurements &gt;::correct </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the correction (update, measurement, data) step of the Kalman filter. </p>
+<p>This method applies the linear Kalman filter correction step to the state and covariance passed in <code>sc</code> using the measurement <code>z</code> and measurement noise <code>R</code>. The updated state and covariance after the correction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the correction step is to be applied. </td></tr>
+    <tr><td class="paramname">z</td><td>The measurement vector to be used for correction. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix to be used for correction. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the correction update. </dd></dl>
+
+</div>
+</div>
+<a id="af4027c4bef5dda2a12af1f728e92c45a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4027c4bef5dda2a12af1f728e92c45a">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a>&lt; n_states, n_inputs, n_measurements &gt;::predict </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">[[maybe_unused] ] double&#160;</td>
+          <td class="paramname"><em>dt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the prediction (time) step of the Kalman filter. </p>
+<p>This method applies the linear Kalman filter prediction step to the state and covariance passed in <code>sc</code> using the input <code>u</code> and process noise <code>Q</code>. The process noise covariance <code>Q</code> is scaled by the <code>dt</code> parameter. The updated state and covariance after the prediction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the prediction step is to be applied. </td></tr>
+    <tr><td class="paramname">u</td><td>The input vector to be used for prediction. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix to be used for prediction. </td></tr>
+    <tr><td class="paramname">dt</td><td>Used to scale the process noise covariance <code>Q</code>. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the prediction step.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>Note that the <code>dt</code> parameter is only used to scale the process noise covariance <code>Q</code> it does not change the system matrices <a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321" title="The system transition matrix .">A</a> or <a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a" title="The input to state mapping matrix .">B</a> (because there is no unambiguous way to do this)! If you have a changing time step duration and a dynamic system, you have to change the <a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321" title="The system transition matrix .">A</a> and <a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a" title="The input to state mapping matrix .">B</a> matrices manually. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="lkf_8h_source.html">lkf.h</a></li>
+</ul>
+</div><!-- contents -->
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1LKF.html">LKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "u_t", "classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c", null ],
+    [ "x_t", "classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409", null ],
+    [ "z_t", "classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640", null ],
+    [ "LKF", "classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3", null ],
+    [ "LKF", "classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0", null ],
+    [ "computeKalmanGain", "classmrs__lib_1_1LKF.html#adcdde06220c8b30b2b74cb50d988c71b", null ],
+    [ "correct", "classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5", null ],
+    [ "correction_impl", "classmrs__lib_1_1LKF.html#a3fdb4e57a1b930fd7e98f7a2c49aa052", null ],
+    [ "predict", "classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a", null ],
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::LKF_MRS_odom Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>A_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>B_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Base_class</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>coeff_A_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>coeff_B_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc,[[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>correct</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, int param=0) const (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">LKF&lt; 3, 1, 1 &gt;::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>covariance_predict</b>(const A_t &amp;A, const P_t &amp;P, const Q_t &amp;Q, const double dt) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>covariance_predict_optimized</b>(const P_t &amp;P, const Q_t &amp;Q, double dt) const (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dtexp_A_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dtexp_B_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>H_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>LKF_MRS_odom</b>(const std::vector&lt; H_t &gt; &amp;Hs, const double default_dt=1) (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m</b> (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>n</b> (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>p</b> (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>P_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>predict</b>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">LKF&lt; 3, 1, 1 &gt;::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q,[[maybe_unused]] double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Q_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>R_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x,[[maybe_unused]] const B_t &amp;B,[[maybe_unused]] const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, const B_t &amp;B, const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict_optimized</b>(const x_t &amp;x_prev, const u_t &amp;u, double dt) const (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>statecov_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>u_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>x_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>z_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">mrs_lib::LKF_MRS_odom</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1LKF__MRS__odom.html b/classmrs__lib_1_1LKF__MRS__odom.html
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+<title>mrs_lib: mrs_lib::LKF_MRS_odom Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license-end */
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1LKF__MRS__odom-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::LKF_MRS_odom Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::LKF_MRS_odom:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1LKF__MRS__odom__inherit__graph.png" border="0" usemap="#mrs__lib_1_1LKF__MRS__odom_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1LKF__MRS__odom_inherit__map" id="mrs__lib_1_1LKF__MRS__odom_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,184,188,211"/>
+<area shape="rect" href="classmrs__lib_1_1LKF.html" title=" " alt="" coords="11,109,183,136"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="16,5,177,61"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::LKF_MRS_odom:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1LKF__MRS__odom__coll__graph.png" border="0" usemap="#mrs__lib_1_1LKF__MRS__odom_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1LKF__MRS__odom_coll__map" id="mrs__lib_1_1LKF__MRS__odom_coll__map">
+<area shape="rect" title=" " alt="" coords="5,184,188,211"/>
+<area shape="rect" href="classmrs__lib_1_1LKF.html" title=" " alt="" coords="11,109,183,136"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="16,5,177,61"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aeb66a3e27ef38bc25498f98e66ba8169"><td class="memItemLeft" align="right" valign="top"><a id="aeb66a3e27ef38bc25498f98e66ba8169"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Base_class</b> = <a class="el" href="classmrs__lib_1_1LKF.html">LKF</a>&lt; n, m, p &gt;</td></tr>
+<tr class="separator:aeb66a3e27ef38bc25498f98e66ba8169"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pub_types_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
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+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a></td></tr>
+<tr class="memdesc:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ad92ac4f280e849986554bc593e5ab96e"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a></td></tr>
+<tr class="memdesc:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a0825f38a6a4ddc522239bb7bf6279737"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a></td></tr>
+<tr class="memdesc:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a8f5e50ea6668129218bd4113f4ffdf6f"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a></td></tr>
+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a1e4c8aa79cfcea707876d85950132450"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a></td></tr>
+<tr class="memdesc:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a8046db3503fe0c724164714bd309cad4"><td class="memItemLeft" align="right" valign="top"><a id="a8046db3503fe0c724164714bd309cad4"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>LKF_MRS_odom</b> (const std::vector&lt; H_t &gt; &amp;Hs, const double default_dt=1)</td></tr>
+<tr class="separator:a8046db3503fe0c724164714bd309cad4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6761cb7486eb9c99510805e17d5c2d1c"><td class="memItemLeft" align="right" valign="top"><a id="a6761cb7486eb9c99510805e17d5c2d1c"></a>
+virtual statecov_t&#160;</td><td class="memItemRight" valign="bottom"><b>predict</b> (const statecov_t &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const override</td></tr>
+<tr class="separator:a6761cb7486eb9c99510805e17d5c2d1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a668f845e05a934e46185e768b4669ca5"><td class="memItemLeft" align="right" valign="top"><a id="a668f845e05a934e46185e768b4669ca5"></a>
+virtual statecov_t&#160;</td><td class="memItemRight" valign="bottom"><b>correct</b> (const statecov_t &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R, int param=0) const</td></tr>
+<tr class="separator:a668f845e05a934e46185e768b4669ca5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a072921264c196f192b8dba85c78b43bc"><td class="memItemLeft" align="right" valign="top"><a id="a072921264c196f192b8dba85c78b43bc"></a>
+<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>state_predict_optimized</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x_prev, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, double dt) const</td></tr>
+<tr class="separator:a072921264c196f192b8dba85c78b43bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19a12aa3c13ce269ad52f3206c9ee329"><td class="memItemLeft" align="right" valign="top"><a id="a19a12aa3c13ce269ad52f3206c9ee329"></a>
+<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>covariance_predict_optimized</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const</td></tr>
+<tr class="separator:a19a12aa3c13ce269ad52f3206c9ee329"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td></tr>
+<tr class="memitem:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a> ()</td></tr>
+<tr class="memdesc:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">More...</a><br /></td></tr>
+<tr class="separator:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">More...</a><br /></td></tr>
+<tr class="separator:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
+<tr class="memdesc:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">More...</a><br /></td></tr>
+<tr class="separator:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q,[[maybe_unused]] double dt) const override</td></tr>
+<tr class="memdesc:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">More...</a><br /></td></tr>
+<tr class="separator:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const =0</td></tr>
+<tr class="memdesc:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">More...</a><br /></td></tr>
+<tr class="separator:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">predict</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const =0</td></tr>
+<tr class="memdesc:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">More...</a><br /></td></tr>
+<tr class="separator:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a77e8e3c1be8ddcf8a43dea61e5529095"><td class="memItemLeft" align="right" valign="top"><a id="a77e8e3c1be8ddcf8a43dea61e5529095"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>n</b> = 3</td></tr>
+<tr class="separator:a77e8e3c1be8ddcf8a43dea61e5529095"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2dc74a198fdc1adfacae20f86c117e5"><td class="memItemLeft" align="right" valign="top"><a id="af2dc74a198fdc1adfacae20f86c117e5"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>m</b> = 1</td></tr>
+<tr class="separator:af2dc74a198fdc1adfacae20f86c117e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae2b2df3ad4828c48d1a6061fc0951960"><td class="memItemLeft" align="right" valign="top"><a id="ae2b2df3ad4828c48d1a6061fc0951960"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>p</b> = 1</td></tr>
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+<tr class="inherit_header pub_static_attribs_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td></tr>
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+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="lkf_8h_source.html">lkf.h</a></li>
+<li>src/lkf/LKF_MRS_odom.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">LKF_MRS_odom</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1LKF__MRS__odom.js b/classmrs__lib_1_1LKF__MRS__odom.js
new file mode 100644
index 00000000..28aae3df
--- /dev/null
+++ b/classmrs__lib_1_1LKF__MRS__odom.js
@@ -0,0 +1,23 @@
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+ </tbody>
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+<div class="title">mrs_lib::MRSTimer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>MRSTimer</b>(const MRSTimer &amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>MRSTimer</b>(MRSTimer &amp;&amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>MRSTimer</b>()=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const MRSTimer &amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(MRSTimer &amp;&amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">running</a>()=0</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">setPeriod</a>(const ros::Duration &amp;duration, const bool reset=true)=0</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">start</a>()=0</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">stop</a>()=0</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~MRSTimer</b>()=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1MRSTimer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::MRSTimer Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Common wrapper representing the functionality of the ros::Timer.  
+ <a href="classmrs__lib_1_1MRSTimer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="timer_8h_source.html">timer.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::MRSTimer:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1MRSTimer__inherit__graph.png" border="0" usemap="#mrs__lib_1_1MRSTimer_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1MRSTimer_inherit__map" id="mrs__lib_1_1MRSTimer_inherit__map">
+<area shape="rect" title="Common wrapper representing the functionality of the ros::Timer." alt="" coords="92,5,237,32"/>
+<area shape="rect" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho..." alt="" coords="5,80,148,107"/>
+<area shape="rect" href="classmrs__lib_1_1ThreadTimer.html" title="Custom thread&#45;based Timers with the same interface as mrs_lib::ROSTimer." alt="" coords="172,80,333,107"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ae519667943aa8289e9c75b8182c75322"><td class="memItemLeft" align="right" valign="top"><a id="ae519667943aa8289e9c75b8182c75322"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>callback_t</b> = std::function&lt; void(const ros::TimerEvent &amp;)&gt;</td></tr>
+<tr class="separator:ae519667943aa8289e9c75b8182c75322"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aeda0660a5031f17bb57f55f4166e737e"><td class="memItemLeft" align="right" valign="top"><a id="aeda0660a5031f17bb57f55f4166e737e"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">stop</a> ()=0</td></tr>
+<tr class="memdesc:aeda0660a5031f17bb57f55f4166e737e"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the timer <br /></td></tr>
+<tr class="separator:aeda0660a5031f17bb57f55f4166e737e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afda0c038cd360ccaa71b95227e413b44"><td class="memItemLeft" align="right" valign="top"><a id="afda0c038cd360ccaa71b95227e413b44"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">start</a> ()=0</td></tr>
+<tr class="memdesc:afda0c038cd360ccaa71b95227e413b44"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the timer <br /></td></tr>
+<tr class="separator:afda0c038cd360ccaa71b95227e413b44"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf818ea5cffe17b89ed00866ca7cbeff"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">setPeriod</a> (const ros::Duration &amp;duration, const bool reset=true)=0</td></tr>
+<tr class="memdesc:acf818ea5cffe17b89ed00866ca7cbeff"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the timer period/duration  <a href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">More...</a><br /></td></tr>
+<tr class="separator:acf818ea5cffe17b89ed00866ca7cbeff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54461ff4541da2848c3263e646ff928a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">running</a> ()=0</td></tr>
+<tr class="memdesc:a54461ff4541da2848c3263e646ff928a"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns true if callbacks should be called  <a href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">More...</a><br /></td></tr>
+<tr class="separator:a54461ff4541da2848c3263e646ff928a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8c67e675c0f51ff31bad5e898d90d33"><td class="memItemLeft" align="right" valign="top"><a id="ab8c67e675c0f51ff31bad5e898d90d33"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>MRSTimer</b> (const <a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;)=default</td></tr>
+<tr class="separator:ab8c67e675c0f51ff31bad5e898d90d33"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae06c621b106897104698b62c28b67b84"><td class="memItemLeft" align="right" valign="top"><a id="ae06c621b106897104698b62c28b67b84"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>MRSTimer</b> (<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&amp;)=default</td></tr>
+<tr class="separator:ae06c621b106897104698b62c28b67b84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf622f64026f1e7dbdeeec3b5512e8fb"><td class="memItemLeft" align="right" valign="top"><a id="acf622f64026f1e7dbdeeec3b5512e8fb"></a>
+<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;)=default</td></tr>
+<tr class="separator:acf622f64026f1e7dbdeeec3b5512e8fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae455e462fc33b2021fb2ce0bc768a75e"><td class="memItemLeft" align="right" valign="top"><a id="ae455e462fc33b2021fb2ce0bc768a75e"></a>
+<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&amp;)=default</td></tr>
+<tr class="separator:ae455e462fc33b2021fb2ce0bc768a75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Common wrapper representing the functionality of the ros::Timer. </p>
+<p>The implementation can then use either ros::Timer (the <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">ROSTimer</a> class) or threads and synchronization primitives from the C++ standard library (the <a class="el" href="classmrs__lib_1_1ThreadTimer.html" title="Custom thread-based Timers with the same interface as mrs_lib::ROSTimer.">ThreadTimer</a> class). Both these variants implement the same interface.</p>
+<dl class="section note"><dt>Note</dt><dd>Functionality of the two implementations differs in some details. </dd></dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a54461ff4541da2848c3263e646ff928a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54461ff4541da2848c3263e646ff928a">&#9670;&nbsp;</a></span>running()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool mrs_lib::MRSTimer::running </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>returns true if callbacks should be called </p>
+<dl class="section return"><dt>Returns</dt><dd>true if timer is running </dd></dl>
+
+<p>Implemented in <a class="el" href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">mrs_lib::ThreadTimer</a>, and <a class="el" href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">mrs_lib::ROSTimer</a>.</p>
+
+</div>
+</div>
+<a id="acf818ea5cffe17b89ed00866ca7cbeff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf818ea5cffe17b89ed00866ca7cbeff">&#9670;&nbsp;</a></span>setPeriod()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void mrs_lib::MRSTimer::setPeriod </td>
+          <td>(</td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>duration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>reset</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set the timer period/duration </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">duration</td><td></td></tr>
+    <tr><td class="paramname">reset</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">mrs_lib::ThreadTimer</a>, and <a class="el" href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">mrs_lib::ROSTimer</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="timer_8h_source.html">timer.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1MRSTimer.js b/classmrs__lib_1_1MRSTimer.js
new file mode 100644
index 00000000..5b89c350
--- /dev/null
+++ b/classmrs__lib_1_1MRSTimer.js
@@ -0,0 +1,14 @@
+var classmrs__lib_1_1MRSTimer =
+[
+    [ "callback_t", "classmrs__lib_1_1MRSTimer.html#ae519667943aa8289e9c75b8182c75322", null ],
+    [ "~MRSTimer", "classmrs__lib_1_1MRSTimer.html#a45659d46a9d71bb68a20b3152c42b9aa", null ],
+    [ "MRSTimer", "classmrs__lib_1_1MRSTimer.html#ab8c67e675c0f51ff31bad5e898d90d33", null ],
+    [ "MRSTimer", "classmrs__lib_1_1MRSTimer.html#ae06c621b106897104698b62c28b67b84", null ],
+    [ "MRSTimer", "classmrs__lib_1_1MRSTimer.html#a11e9f9e577d68ab084762d549c5d9a52", null ],
+    [ "operator=", "classmrs__lib_1_1MRSTimer.html#acf622f64026f1e7dbdeeec3b5512e8fb", null ],
+    [ "operator=", "classmrs__lib_1_1MRSTimer.html#ae455e462fc33b2021fb2ce0bc768a75e", null ],
+    [ "running", "classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a", null ],
+    [ "setPeriod", "classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff", null ],
+    [ "start", "classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44", null ],
+    [ "stop", "classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e", null ]
+];
\ No newline at end of file
diff --git a/classmrs__lib_1_1MRSTimer__inherit__graph.map b/classmrs__lib_1_1MRSTimer__inherit__graph.map
new file mode 100644
index 00000000..161319f3
--- /dev/null
+++ b/classmrs__lib_1_1MRSTimer__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="mrs_lib::MRSTimer" name="mrs_lib::MRSTimer">
+<area shape="rect" id="node1" title="Common wrapper representing the functionality of the ros::Timer." alt="" coords="92,5,237,32"/>
+<area shape="rect" id="node2" href="$classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho..." alt="" coords="5,80,148,107"/>
+<area shape="rect" id="node3" href="$classmrs__lib_1_1ThreadTimer.html" title="Custom thread&#45;based Timers with the same interface as mrs_lib::ROSTimer." alt="" coords="172,80,333,107"/>
+</map>
diff --git a/classmrs__lib_1_1MRSTimer__inherit__graph.md5 b/classmrs__lib_1_1MRSTimer__inherit__graph.md5
new file mode 100644
index 00000000..d179a26a
--- /dev/null
+++ b/classmrs__lib_1_1MRSTimer__inherit__graph.md5
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+++ b/classmrs__lib_1_1MedianFilter-members.html
@@ -0,0 +1,121 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::MedianFilter Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">add</a>(const double value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">addCheck</a>(const double value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">check</a>(const double value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">clear</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">full</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">initialized</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">median</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a6c6bd20d15d66535b900634396e99f51">MedianFilter</a>(const size_t buffer_length, const double min_value=-std::numeric_limits&lt; double &gt;::infinity(), const double max_value=std::numeric_limits&lt; double &gt;::infinity(), const double max_diff=std::numeric_limits&lt; double &gt;::infinity())</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">MedianFilter</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#aa17291d605ef5364db2835745a2c669c">MedianFilter</a>(const MedianFilter &amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a46da8f440b739a1d01710104fc38611c">MedianFilter</a>(MedianFilter &amp;&amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">operator=</a>(const MedianFilter &amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#acc63d667e153c07ea9481eb0b3d74c54">operator=</a>(MedianFilter &amp;&amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">setBufferLength</a>(const size_t buffer_length)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">setMaxDifference</a>(const double max_diff)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">setMaxValue</a>(const double max_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">setMinValue</a>(const double min_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1MedianFilter.html b/classmrs__lib_1_1MedianFilter.html
new file mode 100644
index 00000000..3ba795ee
--- /dev/null
+++ b/classmrs__lib_1_1MedianFilter.html
@@ -0,0 +1,628 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: mrs_lib::MedianFilter Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+$(document).ready(function(){initNavTree('classmrs__lib_1_1MedianFilter.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1MedianFilter-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::MedianFilter Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of a median filter with a fixed-length buffer.  
+ <a href="classmrs__lib_1_1MedianFilter.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="median__filter_8h_source.html">median_filter.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6c6bd20d15d66535b900634396e99f51"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a6c6bd20d15d66535b900634396e99f51">MedianFilter</a> (const size_t buffer_length, const double min_value=-std::numeric_limits&lt; double &gt;::infinity(), const double max_value=std::numeric_limits&lt; double &gt;::infinity(), const double max_diff=std::numeric_limits&lt; double &gt;::infinity())</td></tr>
+<tr class="memdesc:a6c6bd20d15d66535b900634396e99f51"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1MedianFilter.html#a6c6bd20d15d66535b900634396e99f51">More...</a><br /></td></tr>
+<tr class="separator:a6c6bd20d15d66535b900634396e99f51"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae810bd254e4fccfeb883b4585062f166"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">MedianFilter</a> ()</td></tr>
+<tr class="memdesc:ae810bd254e4fccfeb883b4585062f166"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience empty constructor that will construct an invalid filter.  <a href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">More...</a><br /></td></tr>
+<tr class="separator:ae810bd254e4fccfeb883b4585062f166"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa17291d605ef5364db2835745a2c669c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#aa17291d605ef5364db2835745a2c669c">MedianFilter</a> (const <a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;other)</td></tr>
+<tr class="memdesc:aa17291d605ef5364db2835745a2c669c"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience copy constructor.  <a href="classmrs__lib_1_1MedianFilter.html#aa17291d605ef5364db2835745a2c669c">More...</a><br /></td></tr>
+<tr class="separator:aa17291d605ef5364db2835745a2c669c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46da8f440b739a1d01710104fc38611c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a46da8f440b739a1d01710104fc38611c">MedianFilter</a> (<a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a46da8f440b739a1d01710104fc38611c"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience move constructor.  <a href="classmrs__lib_1_1MedianFilter.html#a46da8f440b739a1d01710104fc38611c">More...</a><br /></td></tr>
+<tr class="separator:a46da8f440b739a1d01710104fc38611c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab30170b4f0d029c66e0a616936c7b693"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">operator=</a> (const <a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;other)</td></tr>
+<tr class="memdesc:ab30170b4f0d029c66e0a616936c7b693"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience copy assignment operator.  <a href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">More...</a><br /></td></tr>
+<tr class="separator:ab30170b4f0d029c66e0a616936c7b693"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acc63d667e153c07ea9481eb0b3d74c54"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#acc63d667e153c07ea9481eb0b3d74c54">operator=</a> (<a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:acc63d667e153c07ea9481eb0b3d74c54"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience move assignment operator.  <a href="classmrs__lib_1_1MedianFilter.html#acc63d667e153c07ea9481eb0b3d74c54">More...</a><br /></td></tr>
+<tr class="separator:acc63d667e153c07ea9481eb0b3d74c54"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf3d8e3bab539001962f2b29dabd314d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">add</a> (const double value)</td></tr>
+<tr class="memdesc:aaf3d8e3bab539001962f2b29dabd314d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new value to the buffer.  <a href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">More...</a><br /></td></tr>
+<tr class="separator:aaf3d8e3bab539001962f2b29dabd314d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a518d744f114ad6d0b2591d3804f6f095"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">check</a> (const double value)</td></tr>
+<tr class="memdesc:a518d744f114ad6d0b2591d3804f6f095"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether a value complies with the constraints.  <a href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">More...</a><br /></td></tr>
+<tr class="separator:a518d744f114ad6d0b2591d3804f6f095"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a234342f8780bce6019f5183f798fe348"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">addCheck</a> (const double value)</td></tr>
+<tr class="memdesc:a234342f8780bce6019f5183f798fe348"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a new value to the buffer and check if it complies with the constraints.  <a href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">More...</a><br /></td></tr>
+<tr class="separator:a234342f8780bce6019f5183f798fe348"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a533c6e194f991a9c11b9e2aadf7087a5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">clear</a> ()</td></tr>
+<tr class="memdesc:a533c6e194f991a9c11b9e2aadf7087a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Clear the buffer of all values.  <a href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">More...</a><br /></td></tr>
+<tr class="separator:a533c6e194f991a9c11b9e2aadf7087a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acdd73f7ffc9868eb6a05e7b6aea35d85"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">full</a> () const</td></tr>
+<tr class="memdesc:acdd73f7ffc9868eb6a05e7b6aea35d85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether the buffer is filled with values.  <a href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">More...</a><br /></td></tr>
+<tr class="separator:acdd73f7ffc9868eb6a05e7b6aea35d85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53562ea9addbf12ba3cd257cdede4af6"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">median</a> () const</td></tr>
+<tr class="memdesc:a53562ea9addbf12ba3cd257cdede4af6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Obtain the median.  <a href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">More...</a><br /></td></tr>
+<tr class="separator:a53562ea9addbf12ba3cd257cdede4af6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a843ddc70b6daf92fa91f225fab5b36f7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">initialized</a> () const</td></tr>
+<tr class="memdesc:a843ddc70b6daf92fa91f225fab5b36f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check whether the filter was initialized with a valid buffer length.  <a href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">More...</a><br /></td></tr>
+<tr class="separator:a843ddc70b6daf92fa91f225fab5b36f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2888fa7449ce3ebc82f3255a519fe6a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">setBufferLength</a> (const size_t buffer_length)</td></tr>
+<tr class="memdesc:af2888fa7449ce3ebc82f3255a519fe6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a new size of the buffer.  <a href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">More...</a><br /></td></tr>
+<tr class="separator:af2888fa7449ce3ebc82f3255a519fe6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a569e93d2d4be9632db2943fedb8133ba"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">setMinValue</a> (const double min_value)</td></tr>
+<tr class="memdesc:a569e93d2d4be9632db2943fedb8133ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a new minimal threshold for new values.  <a href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">More...</a><br /></td></tr>
+<tr class="separator:a569e93d2d4be9632db2943fedb8133ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8162e19bd901f6dcd542d4c8615732f9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">setMaxValue</a> (const double max_value)</td></tr>
+<tr class="memdesc:a8162e19bd901f6dcd542d4c8615732f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a new maximal threshold for new values.  <a href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">More...</a><br /></td></tr>
+<tr class="separator:a8162e19bd901f6dcd542d4c8615732f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a82d854470b0920fac623472721b01601"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">setMaxDifference</a> (const double max_diff)</td></tr>
+<tr class="memdesc:a82d854470b0920fac623472721b01601"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a new maximal difference from median for new values.  <a href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">More...</a><br /></td></tr>
+<tr class="separator:a82d854470b0920fac623472721b01601"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Implementation of a median filter with a fixed-length buffer. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6c6bd20d15d66535b900634396e99f51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c6bd20d15d66535b900634396e99f51">&#9670;&nbsp;</a></span>MedianFilter() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::MedianFilter::MedianFilter </td>
+          <td>(</td>
+          <td class="paramtype">const size_t&#160;</td>
+          <td class="paramname"><em>buffer_length</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>min_value</em> = <code>-std::numeric_limits&lt;double&gt;::infinity()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>max_value</em> = <code>std::numeric_limits&lt;double&gt;::infinity()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>max_diff</em> = <code>std::numeric_limits&lt;double&gt;::infinity()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">buffer_length</td><td>the number of last values to be kept in the buffer. </td></tr>
+    <tr><td class="paramname">min_value</td><td>values below this threshold will be discarded (won't be added to the buffer). </td></tr>
+    <tr><td class="paramname">max_value</td><td>values above this threshold will be discarded. </td></tr>
+    <tr><td class="paramname">max_diff</td><td>values that differ from the current mean by more than this threshold will be discarded. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae810bd254e4fccfeb883b4585062f166"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae810bd254e4fccfeb883b4585062f166">&#9670;&nbsp;</a></span>MedianFilter() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::MedianFilter::MedianFilter </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience empty constructor that will construct an invalid filter. </p>
+<dl class="section warning"><dt>Warning</dt><dd>This constructor will construct an unusable filter with a zero-length buffer. To actually initialize this object, use the main constructor. You can use the <a class="el" href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7" title="Check whether the filter was initialized with a valid buffer length.">initialized()</a> method to check whether the object is valid. </dd></dl>
+
+</div>
+</div>
+<a id="aa17291d605ef5364db2835745a2c669c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa17291d605ef5364db2835745a2c669c">&#9670;&nbsp;</a></span>MedianFilter() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::MedianFilter::MedianFilter </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience copy constructor. </p>
+<p>This constructor copies all data from the object that is being assigned from in a thread-safe manner.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the object to assign from. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a46da8f440b739a1d01710104fc38611c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46da8f440b739a1d01710104fc38611c">&#9670;&nbsp;</a></span>MedianFilter() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::MedianFilter::MedianFilter </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience move constructor. </p>
+<p>This constructor moves all data from the object that is being assigned from in a thread-safe manner, invalidating it.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the object to assign from. It will be invalid after this method returns. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aaf3d8e3bab539001962f2b29dabd314d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf3d8e3bab539001962f2b29dabd314d">&#9670;&nbsp;</a></span>add()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::MedianFilter::add </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add a new value to the buffer. </p>
+<dl class="section note"><dt>Note</dt><dd>The median value will not be updated until the <a class="el" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6" title="Obtain the median.">median()</a> method is called (lazy evaluation).</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td>the new value to be added to the buffer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a234342f8780bce6019f5183f798fe348"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a234342f8780bce6019f5183f798fe348">&#9670;&nbsp;</a></span>addCheck()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::MedianFilter::addCheck </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add a new value to the buffer and check if it complies with the constraints. </p>
+<p>The value is compliant if it's above the <code>min_value</code>, below the <code>max_value</code> and its (absolute) difference from the current mean is below <code>max_diff</code>.</p>
+<dl class="section note"><dt>Note</dt><dd>The median value will not be updated until the <a class="el" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6" title="Obtain the median.">median()</a> method is called (lazy evaluation).</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td>the new value to be added to the buffer and checked. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the value is compliant, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a518d744f114ad6d0b2591d3804f6f095"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a518d744f114ad6d0b2591d3804f6f095">&#9670;&nbsp;</a></span>check()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::MedianFilter::check </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check whether a value complies with the constraints. </p>
+<p>The value is compliant if it's above the <code>min_value</code>, below the <code>max_value</code> and its (absolute) difference from the current mean is below <code>max_diff</code>.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td>the value to be checked. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the value is compliant, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a533c6e194f991a9c11b9e2aadf7087a5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a533c6e194f991a9c11b9e2aadf7087a5">&#9670;&nbsp;</a></span>clear()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::MedianFilter::clear </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Clear the buffer of all values. </p>
+<p>Doesn't change the buffer's length set in the constructor or any other parameters, only clears all stored values. </p>
+
+</div>
+</div>
+<a id="acdd73f7ffc9868eb6a05e7b6aea35d85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acdd73f7ffc9868eb6a05e7b6aea35d85">&#9670;&nbsp;</a></span>full()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::MedianFilter::full </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check whether the buffer is filled with values. </p>
+<p>If true, adding a new value will remove the oldest value in the buffer.</p>
+<dl class="section return"><dt>Returns</dt><dd>true if the buffer contains <code>buffer_length</code> values. </dd></dl>
+
+</div>
+</div>
+<a id="a843ddc70b6daf92fa91f225fab5b36f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a843ddc70b6daf92fa91f225fab5b36f7">&#9670;&nbsp;</a></span>initialized()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::MedianFilter::initialized </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check whether the filter was initialized with a valid buffer length. </p>
+<dl class="section return"><dt>Returns</dt><dd>true if the buffer length is larger than zero. </dd></dl>
+
+</div>
+</div>
+<a id="a53562ea9addbf12ba3cd257cdede4af6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53562ea9addbf12ba3cd257cdede4af6">&#9670;&nbsp;</a></span>median()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::MedianFilter::median </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Obtain the median. </p>
+<p>If an up-to-date median value is available, it's not recalculated. Otherwise, the new median value is calculated and then returned (lazy evaluation).</p>
+<dl class="section return"><dt>Returns</dt><dd>the current median value (returns <code>nan</code> if the input buffer is empty). </dd></dl>
+
+</div>
+</div>
+<a id="ab30170b4f0d029c66e0a616936c7b693"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab30170b4f0d029c66e0a616936c7b693">&#9670;&nbsp;</a></span>operator=() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp; mrs_lib::MedianFilter::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience copy assignment operator. </p>
+<p>This operator copies all data from the object that is being assigned from in a thread-safe manner.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the object to assign from. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a reference to the object being assigned to. </dd></dl>
+
+</div>
+</div>
+<a id="acc63d667e153c07ea9481eb0b3d74c54"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc63d667e153c07ea9481eb0b3d74c54">&#9670;&nbsp;</a></span>operator=() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp; mrs_lib::MedianFilter::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience move assignment operator. </p>
+<p>This operator moves all data from the object that is being assigned from in a thread-safe manner, invalidating it.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the object to assign from. It will be invalid after this method returns. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a reference to the object being assigned to. </dd></dl>
+
+</div>
+</div>
+<a id="af2888fa7449ce3ebc82f3255a519fe6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2888fa7449ce3ebc82f3255a519fe6a">&#9670;&nbsp;</a></span>setBufferLength()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::MedianFilter::setBufferLength </td>
+          <td>(</td>
+          <td class="paramtype">const size_t&#160;</td>
+          <td class="paramname"><em>buffer_length</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set a new size of the buffer. </p>
+<dl class="section note"><dt>Note</dt><dd>The median value may change.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">buffer_length</td><td>the new size of the buffer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a82d854470b0920fac623472721b01601"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a82d854470b0920fac623472721b01601">&#9670;&nbsp;</a></span>setMaxDifference()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::MedianFilter::setMaxDifference </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>max_diff</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set a new maximal difference from median for new values. </p>
+<dl class="section note"><dt>Note</dt><dd>The current buffer is not changed - the change only applies to new values.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">max_diff</td><td>the new maximal difference of new buffer elements from the current median. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8162e19bd901f6dcd542d4c8615732f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8162e19bd901f6dcd542d4c8615732f9">&#9670;&nbsp;</a></span>setMaxValue()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::MedianFilter::setMaxValue </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>max_value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set a new maximal threshold for new values. </p>
+<dl class="section note"><dt>Note</dt><dd>The current buffer is not changed - the change only applies to new values.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">max_value</td><td>the new maximal value of new buffer elements. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a569e93d2d4be9632db2943fedb8133ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a569e93d2d4be9632db2943fedb8133ba">&#9670;&nbsp;</a></span>setMinValue()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::MedianFilter::setMinValue </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>min_value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Set a new minimal threshold for new values. </p>
+<dl class="section note"><dt>Note</dt><dd>The current buffer is not changed - the change only applies to new values.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">min_value</td><td>the new minimal value of new buffer elements. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="median__filter_8h_source.html">median_filter.h</a></li>
+<li>src/median_filter/median_filter.cpp</li>
+</ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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index 00000000..4bf0f88b
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+    [ "check", "classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095", null ],
+    [ "clear", "classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5", null ],
+    [ "full", "classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85", null ],
+    [ "initialized", "classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7", null ],
+    [ "median", "classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6", null ],
+    [ "operator=", "classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693", null ],
+    [ "operator=", "classmrs__lib_1_1MedianFilter.html#acc63d667e153c07ea9481eb0b3d74c54", null ],
+    [ "setBufferLength", "classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a", null ],
+    [ "setMaxDifference", "classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601", null ],
+    [ "setMaxValue", "classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9", null ],
+    [ "setMinValue", "classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba", null ]
+];
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#aa7b38a32abe6a319930d6392178d5e3e">A_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8">B_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#aa670be9fba29c7d8d8c7c849d9d844d1">Base_class</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const override (defined in <a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, [[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>covariance_predict</b>(const A_t &amp;A, const P_t &amp;P, const Q_t &amp;Q, const double dt) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460">H_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>l</b> (defined in <a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">NCLKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">NCLKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H, const double l)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, [[maybe_unused]] const B_t &amp;B, [[maybe_unused]] const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, const B_t &amp;B, const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a80db36613d09068f8daa0dc7e735dc64">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1NCLKF.html b/classmrs__lib_1_1NCLKF.html
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+<title>mrs_lib: mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classmrs__lib_1_1NCLKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This class implements the norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a>.  
+ <a href="classmrs__lib_1_1NCLKF.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="nckf_8h_source.html">nckf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1NCLKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1NCLKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1NCLKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" id="mrs__lib_1_1NCLKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map">
+<area shape="rect" title="This class implements the norm&#45;constrained linear Kalman filter ." alt="" coords="5,199,223,240"/>
+<area shape="rect" href="classmrs__lib_1_1NCLKF__partial.html" title="This class implements the partially norm&#45;constrained linear Kalman filter ." alt="" coords="29,288,199,344"/>
+<area shape="rect" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter ." alt="" coords="5,109,223,151"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="33,5,195,61"/>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1NCLKF__coll__graph.png" border="0" usemap="#mrs__lib_1_1NCLKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aa670be9fba29c7d8d8c7c849d9d844d1"><td class="memItemLeft" align="right" valign="top"><a id="aa670be9fba29c7d8d8c7c849d9d844d1"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#aa670be9fba29c7d8d8c7c849d9d844d1">Base_class</a> = <a class="el" href="classmrs__lib_1_1LKF.html">LKF</a>&lt; <a class="el" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">n</a>, <a class="el" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">m</a>, <a class="el" href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">p</a> &gt;</td></tr>
+<tr class="memdesc:aa670be9fba29c7d8d8c7c849d9d844d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class of this class. <br /></td></tr>
+<tr class="separator:aa670be9fba29c7d8d8c7c849d9d844d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888">x_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">Base_class::x_t</a></td></tr>
+<tr class="memdesc:a8fa90de14ea4fa4125882bd49d101888"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">u_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">Base_class::u_t</a></td></tr>
+<tr class="memdesc:a8992c34838e430a64b070929e92c263a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:a8992c34838e430a64b070929e92c263a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a80db36613d09068f8daa0dc7e735dc64"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a80db36613d09068f8daa0dc7e735dc64"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1448842265f0b39d5da536488d146db3"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a1448842265f0b39d5da536488d146db3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b6b964e9491ca80fdfc1afacc9b23fc"><td class="memItemLeft" align="right" valign="top"><a id="a4b6b964e9491ca80fdfc1afacc9b23fc"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">R_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">Base_class::R_t</a></td></tr>
+<tr class="memdesc:a4b6b964e9491ca80fdfc1afacc9b23fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a4b6b964e9491ca80fdfc1afacc9b23fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab7df7efe1e8e70d0e79ad374c6674a0"><td class="memItemLeft" align="right" valign="top"><a id="aab7df7efe1e8e70d0e79ad374c6674a0"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">Q_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Base_class::Q_t</a></td></tr>
+<tr class="memdesc:aab7df7efe1e8e70d0e79ad374c6674a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:aab7df7efe1e8e70d0e79ad374c6674a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
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+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5f970519deaccdbb021df412645f26d5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">NCLKF</a> ()</td></tr>
+<tr class="memdesc:a5f970519deaccdbb021df412645f26d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">More...</a><br /></td></tr>
+<tr class="separator:a5f970519deaccdbb021df412645f26d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aa4dcb47ceca9f506407e14858567ea09"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">More...</a><br /></td></tr>
+<tr class="separator:aa4dcb47ceca9f506407e14858567ea09"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
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+<tr class="separator:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">More...</a><br /></td></tr>
+<tr class="separator:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
+<tr class="memdesc:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">More...</a><br /></td></tr>
+<tr class="separator:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, [[maybe_unused]] double dt) const override</td></tr>
+<tr class="memdesc:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">More...</a><br /></td></tr>
+<tr class="separator:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const =0</td></tr>
+<tr class="memdesc:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">More...</a><br /></td></tr>
+<tr class="separator:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a8e0f671100fb36a431a1d2f6ed1df7b9"><td class="memItemLeft" align="right" valign="top"><a id="a8e0f671100fb36a431a1d2f6ed1df7b9"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">n</a> = n_states</td></tr>
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+<tr class="separator:a8e0f671100fb36a431a1d2f6ed1df7b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b3f2c1a84f0e0000d3d191c9f337306"><td class="memItemLeft" align="right" valign="top"><a id="a4b3f2c1a84f0e0000d3d191c9f337306"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">m</a> = n_inputs</td></tr>
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+<tr class="separator:a4b3f2c1a84f0e0000d3d191c9f337306"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5fb114b6abc3e2a72fbe4ed3ba0753"><td class="memItemLeft" align="right" valign="top"><a id="adc5fb114b6abc3e2a72fbe4ed3ba0753"></a>
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+<tr class="inherit_header pub_static_attribs_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a23db0a12382876c56c4f696119a38dfb inherit pub_static_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a23db0a12382876c56c4f696119a38dfb"></a>
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+<tr class="inherit_header pub_static_attribs_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
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+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> = n_measurements</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a16d5bb9adb1708072bd039ab8355c356"><td class="memItemLeft" align="right" valign="top"><a id="a16d5bb9adb1708072bd039ab8355c356"></a>
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+<tr class="separator:a16d5bb9adb1708072bd039ab8355c356"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:adcdde06220c8b30b2b74cb50d988c71b inherit pro_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="adcdde06220c8b30b2b74cb50d988c71b"></a>
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+<tr class="separator:adcdde06220c8b30b2b74cb50d988c71b inherit pro_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3fdb4e57a1b930fd7e98f7a2c49aa052 inherit pro_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a3fdb4e57a1b930fd7e98f7a2c49aa052"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> ::type&#160;</td><td class="memItemRight" valign="bottom"><b>correction_impl</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>) const</td></tr>
+<tr class="separator:a3fdb4e57a1b930fd7e98f7a2c49aa052 inherit pro_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a9844bbffd20b73e814d54aebad840fb0"><td class="memItemLeft" align="right" valign="top"><a id="a9844bbffd20b73e814d54aebad840fb0"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>l</b></td></tr>
+<tr class="separator:a9844bbffd20b73e814d54aebad840fb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a0926533d35a53410b4302fda99a45321 inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a0926533d35a53410b4302fda99a45321"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td></tr>
+<tr class="memdesc:a0926533d35a53410b4302fda99a45321 inherit pub_attribs_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The system transition matrix <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a0926533d35a53410b4302fda99a45321 inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d88249f1992d772631026387a45445a inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a2d88249f1992d772631026387a45445a"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td></tr>
+<tr class="memdesc:a2d88249f1992d772631026387a45445a inherit pub_attribs_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input to state mapping matrix <img class="formulaInl" alt="$n \times m$" src="form_8.png"/>. <br /></td></tr>
+<tr class="separator:a2d88249f1992d772631026387a45445a inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a552fedb99ce43148c212c809dcd8191f inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a552fedb99ce43148c212c809dcd8191f"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td></tr>
+<tr class="memdesc:a552fedb99ce43148c212c809dcd8191f inherit pub_attribs_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The state to measurement mapping matrix <img class="formulaInl" alt="$p \times n$" src="form_9.png"/>. <br /></td></tr>
+<tr class="separator:a552fedb99ce43148c212c809dcd8191f inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Static Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:afb75645dfb197d6a496839ca3079a2d1 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="afb75645dfb197d6a496839ca3079a2d1"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>covariance_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, const double dt)</td></tr>
+<tr class="separator:afb75645dfb197d6a496839ca3079a2d1 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplParams" colspan="2"><a id="a5c56c50aa7b8ff77e9a57ee2decbadce"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplItemLeft" align="right" valign="top">static std::enable_if&lt; check==0, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>state_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u)</td></tr>
+<tr class="separator:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplParams" colspan="2"><a id="aa4c613d999ab084a171b8b2a928c8cf4"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplItemLeft" align="right" valign="top">static std::enable_if&lt; check !=0, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>state_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u)</td></tr>
+<tr class="separator:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="ace42cf1b23654e1090219ed1a532476d"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>invert_W</b> (<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> W)</td></tr>
+<tr class="separator:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+class mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</h3>
+
+<p>This class implements the norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a>. </p>
+<p>Note that the class is templated. The template parameters specify the number of states, number of inputs and number of measurements of the system. The last template parameter specifies the number of states which are norm-constrained.</p>
+<p>The norm constraint is specified in the constructor and applied to the whole state vector of the system. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5f970519deaccdbb021df412645f26d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f970519deaccdbb021df412645f26d5">&#9670;&nbsp;</a></span>NCLKF() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1NCLKF.html">NCLKF</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience default constructor. </p>
+<p>This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, before using this class, otherwise the object is invalid (not initialized). </p>
+
+</div>
+</div>
+<a id="aa4dcb47ceca9f506407e14858567ea09"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa4dcb47ceca9f506407e14858567ea09">&#9670;&nbsp;</a></span>NCLKF() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1NCLKF.html">NCLKF</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>H</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>l</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">A</td><td>State transition matrix of the system (n x n). </td></tr>
+    <tr><td class="paramname">B</td><td>Input to state mapping matrix of the system (n x m). </td></tr>
+    <tr><td class="paramname">H</td><td>State to measurement mapping matrix of the system (p x n). </td></tr>
+    <tr><td class="paramname">l</td><td>The norm constraint, applied to the specified states. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="nckf_8h_source.html">nckf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
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+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1NCLKF.html">NCLKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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diff --git a/classmrs__lib_1_1NCLKF.js b/classmrs__lib_1_1NCLKF.js
new file mode 100644
index 00000000..76c11501
--- /dev/null
+++ b/classmrs__lib_1_1NCLKF.js
@@ -0,0 +1,19 @@
+var classmrs__lib_1_1NCLKF =
+[
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+    [ "B_t", "classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8", null ],
+    [ "Base_class", "classmrs__lib_1_1NCLKF.html#aa670be9fba29c7d8d8c7c849d9d844d1", null ],
+    [ "H_t", "classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460", null ],
+    [ "K_t", "classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93", null ],
+    [ "P_t", "classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3", null ],
+    [ "Q_t", "classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0", null ],
+    [ "R_t", "classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc", null ],
+    [ "statecov_t", "classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71", null ],
+    [ "u_t", "classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a", null ],
+    [ "x_t", "classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888", null ],
+    [ "z_t", "classmrs__lib_1_1NCLKF.html#a80db36613d09068f8daa0dc7e735dc64", null ],
+    [ "NCLKF", "classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5", null ],
+    [ "NCLKF", "classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09", null ],
+    [ "computeKalmanGain", "classmrs__lib_1_1NCLKF.html#a16d5bb9adb1708072bd039ab8355c356", null ],
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new file mode 100644
index 00000000..79425643
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diff --git a/classmrs__lib_1_1NCLKF__coll__graph.md5 b/classmrs__lib_1_1NCLKF__coll__graph.md5
new file mode 100644
index 00000000..6207a81e
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+++ b/classmrs__lib_1_1NCLKF__coll__graph.md5
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diff --git a/classmrs__lib_1_1NCLKF__inherit__graph.map b/classmrs__lib_1_1NCLKF__inherit__graph.map
new file mode 100644
index 00000000..4949a82c
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+++ b/classmrs__lib_1_1NCLKF__inherit__graph.map
@@ -0,0 +1,6 @@
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diff --git a/classmrs__lib_1_1NCLKF__inherit__graph.md5 b/classmrs__lib_1_1NCLKF__inherit__graph.md5
new file mode 100644
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+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">A_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">B_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a13dac50b4906535f6ff5837b1057597f">Base_class</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const override (defined in <a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, [[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>covariance_predict</b>(const A_t &amp;A, const P_t &amp;P, const Q_t &amp;Q, const double dt) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a12079d59b1f0e949c535e478d8e1d88c">H_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">Hq_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">indices_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">Kq_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>l</b> (defined in <a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">NCLKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">NCLKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H, const double l)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428">NCLKF_partial</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">NCLKF_partial</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H, const double l, const indices_t &amp;norm_constrained_indices)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a139afd8f356f87aa0faadea3e8878649">nq</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#aef875cb026a1a0d8df31a8fc3f02e63b">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2ba0fce7ba12825a0c498f7676848fce">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a7754b24176416b24869450c88a1328aa">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, [[maybe_unused]] const B_t &amp;B, [[maybe_unused]] const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, const B_t &amp;B, const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2bc4e99acb7f38dc41d6e63cdce5e805">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#afaae66f623e768b19c0160fb21be9373">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">xq_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#ad5308432a3010edabc4598a92786fad5">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="entry"></td></tr>
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+<title>mrs_lib: mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt; Class Template Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="classmrs__lib_1_1NCLKF__partial-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This class implements the partially norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a>.  
+ <a href="classmrs__lib_1_1NCLKF__partial.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="nckf_8h_source.html">nckf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;:</div>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;:</div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a13dac50b4906535f6ff5837b1057597f"><td class="memItemLeft" align="right" valign="top"><a id="a13dac50b4906535f6ff5837b1057597f"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a13dac50b4906535f6ff5837b1057597f">Base_class</a> = <a class="el" href="classmrs__lib_1_1NCLKF.html">NCLKF</a>&lt; <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">m</a>, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">p</a> &gt;</td></tr>
+<tr class="memdesc:a13dac50b4906535f6ff5837b1057597f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class of this class. <br /></td></tr>
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+<tr class="memdesc:afaae66f623e768b19c0160fb21be9373"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
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+<tr class="memdesc:ad5308432a3010edabc4598a92786fad5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
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+<tr class="memdesc:aef875cb026a1a0d8df31a8fc3f02e63b"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a7754b24176416b24869450c88a1328aa">R_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">Base_class::R_t</a></td></tr>
+<tr class="memdesc:a7754b24176416b24869450c88a1328aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
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+<tr class="memdesc:a2ba0fce7ba12825a0c498f7676848fce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2bc4e99acb7f38dc41d6e63cdce5e805">statecov_t</a> = typename <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">Base_class::statecov_t</a></td></tr>
+<tr class="memdesc:a2bc4e99acb7f38dc41d6e63cdce5e805"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable. <br /></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">A_t</a> = typename Base_class::A_t</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">B_t</a> = typename Base_class::B_t</td></tr>
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+<tr class="memdesc:a12079d59b1f0e949c535e478d8e1d88c"><td class="mdescLeft">&#160;</td><td class="mdescRight">State to measurement mapping matrix type <img class="formulaInl" alt="$p \times n$" src="form_9.png"/>. <br /></td></tr>
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+<tr class="memdesc:a47b90d150c6147ab30ae1866b66ea49c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix type <img class="formulaInl" alt="$n \times p$" src="form_10.png"/>. <br /></td></tr>
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+<tr class="memdesc:a93afd8063033124c0698426cd03d4507"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the norm-constrained states type. <br /></td></tr>
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+<tr class="memitem:a5ca7805e401bd7b718b510269a6ce7bf inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a5ca7805e401bd7b718b510269a6ce7bf"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">m</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a></td></tr>
+<tr class="memdesc:a5ca7805e401bd7b718b510269a6ce7bf inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input to state mapping matrix type <img class="formulaInl" alt="$n \times m$" src="form_8.png"/>. <br /></td></tr>
+<tr class="separator:a5ca7805e401bd7b718b510269a6ce7bf inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78733a13f277480c5c8c42228d440df7 inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a78733a13f277480c5c8c42228d440df7"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a></td></tr>
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+<tr class="separator:a78733a13f277480c5c8c42228d440df7 inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a33b80f4e1b9b7eb7243b71a4ae6d99c6"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a></td></tr>
+<tr class="memdesc:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix type <img class="formulaInl" alt="$n \times p$" src="form_10.png"/>. <br /></td></tr>
+<tr class="separator:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a5b8f47081daf208496a19a4364e6509c"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a></td></tr>
+<tr class="memdesc:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ad92ac4f280e849986554bc593e5ab96e"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a></td></tr>
+<tr class="memdesc:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a0825f38a6a4ddc522239bb7bf6279737"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a></td></tr>
+<tr class="memdesc:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a8f5e50ea6668129218bd4113f4ffdf6f"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a></td></tr>
+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a1e4c8aa79cfcea707876d85950132450"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a></td></tr>
+<tr class="memdesc:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aabe13461dda8a89463ce87888fd6e428"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428">NCLKF_partial</a> ()</td></tr>
+<tr class="memdesc:aabe13461dda8a89463ce87888fd6e428"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428">More...</a><br /></td></tr>
+<tr class="separator:aabe13461dda8a89463ce87888fd6e428"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c6b3f2a9bd2d7cafe652d1bb24872e7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">NCLKF_partial</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, const double l, const <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">indices_t</a> &amp;norm_constrained_indices)</td></tr>
+<tr class="memdesc:a1c6b3f2a9bd2d7cafe652d1bb24872e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">More...</a><br /></td></tr>
+<tr class="separator:a1c6b3f2a9bd2d7cafe652d1bb24872e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1NCLKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1NCLKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a5f970519deaccdbb021df412645f26d5 inherit pub_methods_classmrs__lib_1_1NCLKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">NCLKF</a> ()</td></tr>
+<tr class="memdesc:a5f970519deaccdbb021df412645f26d5 inherit pub_methods_classmrs__lib_1_1NCLKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">More...</a><br /></td></tr>
+<tr class="separator:a5f970519deaccdbb021df412645f26d5 inherit pub_methods_classmrs__lib_1_1NCLKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4dcb47ceca9f506407e14858567ea09 inherit pub_methods_classmrs__lib_1_1NCLKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">NCLKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, const double l)</td></tr>
+<tr class="memdesc:aa4dcb47ceca9f506407e14858567ea09 inherit pub_methods_classmrs__lib_1_1NCLKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">More...</a><br /></td></tr>
+<tr class="separator:aa4dcb47ceca9f506407e14858567ea09 inherit pub_methods_classmrs__lib_1_1NCLKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a> ()</td></tr>
+<tr class="memdesc:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">More...</a><br /></td></tr>
+<tr class="separator:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">More...</a><br /></td></tr>
+<tr class="separator:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
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+<tr class="memdesc:afa31bda8d042554992676389d464cfd9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector of the system. <br /></td></tr>
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+<tr class="memitem:a748e915398e1ff3c09675bfcb1af7985"><td class="memItemLeft" align="right" valign="top"><a id="a748e915398e1ff3c09675bfcb1af7985"></a>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
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+<tr class="inherit_header pro_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:adcdde06220c8b30b2b74cb50d988c71b inherit pro_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="adcdde06220c8b30b2b74cb50d988c71b"></a>
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+<tr class="separator:adcdde06220c8b30b2b74cb50d988c71b inherit pro_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3fdb4e57a1b930fd7e98f7a2c49aa052 inherit pro_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a3fdb4e57a1b930fd7e98f7a2c49aa052"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> ::type&#160;</td><td class="memItemRight" valign="bottom"><b>correction_impl</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>) const</td></tr>
+<tr class="separator:a3fdb4e57a1b930fd7e98f7a2c49aa052 inherit pro_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a0926533d35a53410b4302fda99a45321 inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a0926533d35a53410b4302fda99a45321"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td></tr>
+<tr class="memdesc:a0926533d35a53410b4302fda99a45321 inherit pub_attribs_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The system transition matrix <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a0926533d35a53410b4302fda99a45321 inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d88249f1992d772631026387a45445a inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a2d88249f1992d772631026387a45445a"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td></tr>
+<tr class="memdesc:a2d88249f1992d772631026387a45445a inherit pub_attribs_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input to state mapping matrix <img class="formulaInl" alt="$n \times m$" src="form_8.png"/>. <br /></td></tr>
+<tr class="separator:a2d88249f1992d772631026387a45445a inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a552fedb99ce43148c212c809dcd8191f inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a552fedb99ce43148c212c809dcd8191f"></a>
+<a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td></tr>
+<tr class="memdesc:a552fedb99ce43148c212c809dcd8191f inherit pub_attribs_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The state to measurement mapping matrix <img class="formulaInl" alt="$p \times n$" src="form_9.png"/>. <br /></td></tr>
+<tr class="separator:a552fedb99ce43148c212c809dcd8191f inherit pub_attribs_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_static_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Static Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:afb75645dfb197d6a496839ca3079a2d1 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="afb75645dfb197d6a496839ca3079a2d1"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>covariance_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, const double dt)</td></tr>
+<tr class="separator:afb75645dfb197d6a496839ca3079a2d1 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplParams" colspan="2"><a id="a5c56c50aa7b8ff77e9a57ee2decbadce"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplItemLeft" align="right" valign="top">static std::enable_if&lt; check==0, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>state_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u)</td></tr>
+<tr class="separator:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplParams" colspan="2"><a id="aa4c613d999ab084a171b8b2a928c8cf4"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplItemLeft" align="right" valign="top">static std::enable_if&lt; check !=0, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &gt;::type&#160;</td><td class="memTemplItemRight" valign="bottom"><b>state_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u)</td></tr>
+<tr class="separator:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="ace42cf1b23654e1090219ed1a532476d"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>invert_W</b> (<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> W)</td></tr>
+<tr class="separator:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classmrs__lib_1_1NCLKF"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classmrs__lib_1_1NCLKF')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a9844bbffd20b73e814d54aebad840fb0 inherit pro_attribs_classmrs__lib_1_1NCLKF"><td class="memItemLeft" align="right" valign="top"><a id="a9844bbffd20b73e814d54aebad840fb0"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>l</b></td></tr>
+<tr class="separator:a9844bbffd20b73e814d54aebad840fb0 inherit pro_attribs_classmrs__lib_1_1NCLKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements, int n_norm_constrained_states&gt;<br />
+class mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</h3>
+
+<p>This class implements the partially norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a>. </p>
+<p>Note that the class is templated. The template parameters specify the number of states, number of inputs and number of measurements of the system. The last template parameter specifies the number of states which are norm-constrained.</p>
+<p>The norm constraint is specified in the constructor together with the indices of the states to which the constraint applies.</p>
+<p>Example usage: </p><div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"> </div>
+<div class="line"><span class="preprocessor">#include &lt;mrs_lib/nckf.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_states = -1;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_states_norm_constrained = 2;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_inputs = 1;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_measurements = 4;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* using ukf_t = NCUKF&lt;n_states, n_inputs, n_measurements&gt;; */</span></div>
+<div class="line">  <span class="keyword">using</span> lkf_t = NCLKF_partial&lt;n_states, n_inputs, n_measurements, n_states_norm_constrained&gt;;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line">constexpr <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a> = 4;</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a>;</div>
+<div class="line"><span class="keyword">using</span> Q_t = <a class="code" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">lkf_t::Q_t</a>;</div>
+<div class="line"><span class="keyword">using</span> x_t = <a class="code" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">lkf_t::x_t</a>;</div>
+<div class="line"><span class="keyword">using</span> P_t = <a class="code" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">lkf_t::P_t</a>;</div>
+<div class="line"><span class="keyword">using</span> u_t = <a class="code" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">lkf_t::u_t</a>;</div>
+<div class="line"><span class="keyword">using</span> z_t = <a class="code" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">lkf_t::z_t</a>;</div>
+<div class="line"><span class="keyword">using</span> R_t = <a class="code" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">lkf_t::R_t</a>;</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">using</span> A_t = <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">lkf_t::A_t</a>;</div>
+<div class="line"><span class="keyword">using</span> B_t = <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">lkf_t::B_t</a>;</div>
+<div class="line"><span class="keyword">using</span> H_t = <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">lkf_t::H_t</a>;</div>
+<div class="line"> </div>
+<div class="line">A_t <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>;</div>
+<div class="line">B_t <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>;</div>
+<div class="line">H_t <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>;</div>
+<div class="line"> </div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// This function implements the state transition</span></div>
+<div class="line">x_t tra_model_f(<span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> u_t&amp; u, [[maybe_unused]] <span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line">{</div>
+<div class="line">  x_t ret;</div>
+<div class="line">  ret = <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>*x + <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>*u;</div>
+<div class="line">  <span class="keyword">auto</span> xq = ret.block&lt;2, 1&gt;(0, 0);</div>
+<div class="line">  xq = xq/xq.norm();</div>
+<div class="line">  ret.block&lt;2, 1&gt;(2, 0) = xq;</div>
+<div class="line">  <span class="keywordflow">return</span> ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// This function implements the observation generation from a state</span></div>
+<div class="line">z_t obs_model_f(<span class="keyword">const</span> x_t&amp; x)</div>
+<div class="line">{</div>
+<div class="line">  <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>*x;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keywordtype">int</span> rows&gt;</div>
+<div class="line">Eigen::Matrix&lt;double, rows, 1&gt; normal_randmat(<span class="keyword">const</span> Eigen::Matrix&lt;double, rows, rows&gt;&amp; cov)</div>
+<div class="line">{</div>
+<div class="line">    <span class="keyword">static</span> std::random_device rd{};</div>
+<div class="line">    <span class="keyword">static</span> std::mt19937 gen{rd()};</div>
+<div class="line">    <span class="keyword">static</span> std::normal_distribution&lt;&gt; d{0,1};</div>
+<div class="line">    Eigen::Matrix&lt;double, rows, 1&gt; ret(<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>, 1);</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; rows; row++)</div>
+<div class="line">      ret(row, 0) = d(gen);</div>
+<div class="line">    <span class="keywordflow">return</span> cov*ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main()</div>
+<div class="line">{</div>
+<div class="line">  srand(std::time(0));</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> l = 3.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// dt will be constant in this example</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> dt = 1.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the process noise matrix</span></div>
+<div class="line">  Q_t Q(<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>,<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>); Q &lt;&lt; </div>
+<div class="line">    1e-3, 0, 0, 0,</div>
+<div class="line">    0, 1e-3, 0, 0,</div>
+<div class="line">    0, 0, 1e-2, 0,</div>
+<div class="line">    0, 0, 0, 1e-2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the measurement noise matrix</span></div>
+<div class="line">  R_t R = 1e-2 * R_t::Ones();</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the state transition matrix</span></div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a> = <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">A_t</a>(<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>,<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>);</div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a> &lt;&lt; </div>
+<div class="line">    1, dt, 0.5*dt*dt, 0.25*dt*dt*dt,</div>
+<div class="line">    0, 1, dt, 0.5*dt*dt,</div>
+<div class="line">    0, 0, 1, dt,</div>
+<div class="line">    0, 0, 0, 0.9;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the input matrix</span></div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a> = <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">B_t</a>(<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>, n_inputs);</div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a> &lt;&lt; </div>
+<div class="line">    0,</div>
+<div class="line">    0,</div>
+<div class="line">    0,</div>
+<div class="line">    1;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the observation matrix</span></div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> = <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a12079d59b1f0e949c535e478d8e1d88c">H_t</a>(n_measurements, <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>);</div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> &lt;&lt;</div>
+<div class="line">    1, 0, 0, 0,</div>
+<div class="line">    0, 1, 0, 0,</div>
+<div class="line">    0, 0, 1, 0,</div>
+<div class="line">    0, 0, 0, 1;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Generate initial state and covariance</span></div>
+<div class="line">  x_t x0 = 100.0*x_t::Random(<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>);</div>
+<div class="line">  x0(2) = 0.0;</div>
+<div class="line">  x0(3) = 10.0;</div>
+<div class="line">  x0 = x0/x0.norm();</div>
+<div class="line">  P_t P_tmp = P_t::Random(<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>,<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>);</div>
+<div class="line">  <span class="keyword">const</span> P_t P0 = 10.0*P_tmp*P_tmp.transpose();</div>
+<div class="line">  <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">lkf_t::statecov_t</a> sc0({x0, P0});</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> lkf_t::indices_t nconst_idxs = {0,1}; <span class="comment">// these are the norm-constrained states</span></div>
+<div class="line">  <a class="code" href="classmrs__lib_1_1LKF.html">lkf_t</a> lkf(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, l, nconst_idxs);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_its = 1e1;</div>
+<div class="line">  std::vector&lt;lkf_t::statecov_t&gt; lscs;</div>
+<div class="line">  std::vector&lt;lkf_t::statecov_t&gt; scs;</div>
+<div class="line"> </div>
+<div class="line">  lscs.reserve(n_its+1);</div>
+<div class="line">  scs.reserve(n_its+1);</div>
+<div class="line"> </div>
+<div class="line">  lscs.push_back(sc0);</div>
+<div class="line">  scs.push_back(sc0);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n_its; it++)</div>
+<div class="line">  {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;step: &quot;</span> &lt;&lt; it &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Generate a new input vector</span></div>
+<div class="line">    <span class="comment">/* const u_t u = u_t(0.5) + 0.1*u_t::Random(); */</span></div>
+<div class="line">    <span class="keyword">const</span> u_t u = <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5">u_t</a>(0.0);</div>
+<div class="line">    </div>
+<div class="line">    <span class="comment">// Generate a new state according to the model and noise parameters</span></div>
+<div class="line">    <span class="keyword">auto</span> sc = scs.back();</div>
+<div class="line">    sc.x = tra_model_f(sc.x, u, dt) + normal_randmat(Q);</div>
+<div class="line">    sc.x = sc.x / sc.x.norm();</div>
+<div class="line">    </div>
+<div class="line">    <span class="comment">// Generate a new observation according to the model and noise parameters</span></div>
+<div class="line">    <span class="keyword">const</span> z_t z = obs_model_f(sc.x) + normal_randmat(R);</div>
+<div class="line"> </div>
+<div class="line">    scs.push_back(sc);</div>
+<div class="line">    scs.push_back(sc);</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;gt       state:&quot;</span> &lt;&lt; std::endl &lt;&lt; sc.x.transpose() &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    {</div>
+<div class="line">      <span class="keyword">auto</span> lsc = lscs.back();</div>
+<div class="line">      <span class="keywordflow">try</span></div>
+<div class="line">      {</div>
+<div class="line">        std::cout &lt;&lt; <span class="stringliteral">&quot;lkf_new  state:&quot;</span> &lt;&lt; std::endl &lt;&lt; lsc.x.transpose() &lt;&lt; std::endl;</div>
+<div class="line">        lsc = lkf.predict(lsc, u, Q, dt);</div>
+<div class="line">        std::cout &lt;&lt; <span class="stringliteral">&quot;lkf_new  predi:&quot;</span> &lt;&lt; std::endl &lt;&lt; lsc.x.transpose() &lt;&lt; std::endl;</div>
+<div class="line">        lscs.push_back(lsc);</div>
+<div class="line">        lsc = lkf.correct(lsc, z, R);</div>
+<div class="line">        std::cout &lt;&lt; <span class="stringliteral">&quot;lkf_new  corre:&quot;</span> &lt;&lt; std::endl &lt;&lt; lsc.x.transpose() &lt;&lt; std::endl;</div>
+<div class="line">        <span class="keywordtype">double</span> sum2 = 0.0;</div>
+<div class="line">        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> it : nconst_idxs)</div>
+<div class="line">          sum2 += lsc.x(it)*lsc.x(it);</div>
+<div class="line">        std::cout &lt;&lt; <span class="stringliteral">&quot;lkf_new  corre norm:&quot;</span> &lt;&lt; std::sqrt(sum2) &lt;&lt; std::endl;</div>
+<div class="line">        lscs.push_back(lsc);</div>
+<div class="line">      }</div>
+<div class="line">      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line">      {</div>
+<div class="line">        ROS_ERROR(<span class="stringliteral">&quot;NEW  LKF failed: %s&quot;</span>, e.what());</div>
+<div class="line">      }</div>
+<div class="line">    }</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">double</span> x_diff = 0.0;</div>
+<div class="line">  <span class="keywordtype">double</span> P_diff = 0.0;</div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n_its; it++)</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> lsc = lscs.at(it);</div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> cur_x_diff = (lsc.x-lsc.x).norm();</div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> cur_P_diff = (lsc.P-lsc.P).norm();</div>
+<div class="line">    x_diff += cur_x_diff;</div>
+<div class="line">    P_diff += cur_P_diff;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;x diff average: &quot;</span> &lt;&lt; x_diff/(n_its+1) &lt;&lt; std::endl;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;P diff average: &quot;</span> &lt;&lt; P_diff/(n_its+1) &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aabe13461dda8a89463ce87888fd6e428"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabe13461dda8a89463ce87888fd6e428">&#9670;&nbsp;</a></span>NCLKF_partial() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements, int n_norm_constrained_states&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial</a>&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;::<a class="el" href="classmrs__lib_1_1NCLKF__partial.html">NCLKF_partial</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience default constructor. </p>
+<p>This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, before using this class, otherwise the object is invalid (not initialized). </p>
+
+</div>
+</div>
+<a id="a1c6b3f2a9bd2d7cafe652d1bb24872e7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c6b3f2a9bd2d7cafe652d1bb24872e7">&#9670;&nbsp;</a></span>NCLKF_partial() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements, int n_norm_constrained_states&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial</a>&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;::<a class="el" href="classmrs__lib_1_1NCLKF__partial.html">NCLKF_partial</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>H</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>l</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">indices_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>norm_constrained_indices</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">A</td><td>State transition matrix of the system (n x n). </td></tr>
+    <tr><td class="paramname">B</td><td>Input to state mapping matrix of the system (n x m). </td></tr>
+    <tr><td class="paramname">H</td><td>State to measurement mapping matrix of the system (p x n). </td></tr>
+    <tr><td class="paramname">l</td><td>The norm constraint, applied to the specified states. </td></tr>
+    <tr><td class="paramname">norm_constrained_indices</td><td>Indices of the norm-constrained states in the state vector. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="nckf_8h_source.html">nckf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a6d62f542c4ee39019c9466e82ed0cd51"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">mrs_lib::NCLKF_partial::A_t</a></div><div class="ttdeci">typename Base_class::A_t A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:130</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5df2fd299b9da75a872e8d9194da1ca9"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a78733a13f277480c5c8c42228d440df7"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF::H_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, n &gt; H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:57</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d5cee075e30da36ffb946cffcfca688"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a552fedb99ce43148c212c809dcd8191f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">mrs_lib::LKF::H</a></div><div class="ttdeci">H_t H</div><div class="ttdoc">The state to measurement mapping matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:150</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a54b2b4a3932510daad92da5a2b1274c1"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> lkf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d2cb5ed042b660f1a44bdb9f4d2612f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a5718270798d8227ccaf76a5d3b97fda5"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5">mrs_lib::NCLKF_partial::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> nckf.h:123</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_afa31bda8d042554992676389d464cfd9"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">mrs_lib::NCLKF_partial::n</a></div><div class="ttdeci">static const int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:116</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5ca7805e401bd7b718b510269a6ce7bf"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:56</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_abfad09fe2386fb87eaea7b4dd8b24409"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:47</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_aa5c83985c5c7685ebe2af0e445fbc0ad"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF::A_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:55</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a2d88249f1992d772631026387a45445a"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">mrs_lib::LKF::B</a></div><div class="ttdeci">B_t B</div><div class="ttdoc">The input to state mapping matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:149</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1LKF_html"><div class="ttname"><a href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a></div><div class="ttdoc">Implementation of the Linear Kalman filter .</div><div class="ttdef"><b>Definition:</b> lkf.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a749bb8222899e2b056e27875c0f951f6"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">mrs_lib::NCLKF_partial::B_t</a></div><div class="ttdeci">typename Base_class::B_t B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:131</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_af4318056f5e0c024651bb882b60ec640"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">mrs_lib::LKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a0926533d35a53410b4302fda99a45321"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">mrs_lib::LKF::A</a></div><div class="ttdeci">A_t A</div><div class="ttdoc">The system transition matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:144</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a98e130a3d14cd93b01b0b942de8af10c"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">mrs_lib::LKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:48</div></div>
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">NCLKF_partial</a></li>
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diff --git a/classmrs__lib_1_1NCLKF__partial.js b/classmrs__lib_1_1NCLKF__partial.js
new file mode 100644
index 00000000..10531a6c
--- /dev/null
+++ b/classmrs__lib_1_1NCLKF__partial.js
@@ -0,0 +1,22 @@
+var classmrs__lib_1_1NCLKF__partial =
+[
+    [ "A_t", "classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51", null ],
+    [ "B_t", "classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6", null ],
+    [ "Base_class", "classmrs__lib_1_1NCLKF__partial.html#a13dac50b4906535f6ff5837b1057597f", null ],
+    [ "H_t", "classmrs__lib_1_1NCLKF__partial.html#a12079d59b1f0e949c535e478d8e1d88c", null ],
+    [ "Hq_t", "classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a", null ],
+    [ "indices_t", "classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507", null ],
+    [ "K_t", "classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c", null ],
+    [ "Kq_t", "classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa", null ],
+    [ "P_t", "classmrs__lib_1_1NCLKF__partial.html#aef875cb026a1a0d8df31a8fc3f02e63b", null ],
+    [ "Q_t", "classmrs__lib_1_1NCLKF__partial.html#a2ba0fce7ba12825a0c498f7676848fce", null ],
+    [ "R_t", "classmrs__lib_1_1NCLKF__partial.html#a7754b24176416b24869450c88a1328aa", null ],
+    [ "statecov_t", "classmrs__lib_1_1NCLKF__partial.html#a2bc4e99acb7f38dc41d6e63cdce5e805", null ],
+    [ "u_t", "classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5", null ],
+    [ "x_t", "classmrs__lib_1_1NCLKF__partial.html#afaae66f623e768b19c0160fb21be9373", null ],
+    [ "xq_t", "classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c", null ],
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+    [ "NCLKF_partial", "classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428", null ],
+    [ "NCLKF_partial", "classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7", null ],
+    [ "computeKalmanGain", "classmrs__lib_1_1NCLKF__partial.html#a293e0195e2a651bda0b09e40e6f8d7f4", null ]
+];
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diff --git a/classmrs__lib_1_1NCLKF__partial__inherit__graph.map b/classmrs__lib_1_1NCLKF__partial__inherit__graph.map
new file mode 100644
index 00000000..291304e3
--- /dev/null
+++ b/classmrs__lib_1_1NCLKF__partial__inherit__graph.map
@@ -0,0 +1,6 @@
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+<area shape="rect" id="node2" href="$classmrs__lib_1_1NCLKF.html" title="This class implements the norm&#45;constrained linear Kalman filter ." alt="" coords="5,199,223,240"/>
+<area shape="rect" id="node3" href="$classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter ." alt="" coords="5,109,223,151"/>
+<area shape="rect" id="node4" href="$classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="33,5,195,61"/>
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diff --git a/classmrs__lib_1_1NCLKF__partial__inherit__graph.md5 b/classmrs__lib_1_1NCLKF__partial__inherit__graph.md5
new file mode 100644
index 00000000..afd9120b
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diff --git a/classmrs__lib_1_1NCUKF-members.html b/classmrs__lib_1_1NCUKF-members.html
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
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+  <div class="headertitle">
+<div class="title">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Base_class</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeInverse</b>(const Pzz_t &amp;Pzz) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeKalmanGain</b>(const x_t &amp;x, const z_t &amp;inn, const K_t &amp;Pxz, const Pzz_t &amp;Pzz) const override (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>([[maybe_unused]] const x_t &amp;x, [[maybe_unused]] const z_t &amp;inn, const K_t &amp;Pxz, const Pzz_t &amp;Pzz) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computePaSqrt</b>(const P_t &amp;P) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeSigmas</b>(const x_t &amp;x, const P_t &amp;P) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeWeights</b>() (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>K_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>l</b> (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m</b> (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_alpha</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_beta</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_kappa</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_lambda</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_observation_model</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_transition_model</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_Wc</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_Wm</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>n</b> (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>NCUKF</b>() (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>NCUKF</b>(const transition_model_t &amp;transition_model, const observation_model_t &amp;observation_model, const double l, const double alpha=1e-3, const double kappa=1, const double beta=2) (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>observation_model_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>p</b> (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>P_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Pzz_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Q_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>R_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">setConstants</a>(const double alpha, const double kappa, const double beta)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">setObservationModel</a>(const observation_model_t &amp;observation_model)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">setTransitionModel</a>(const transition_model_t &amp;transition_model)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>statecov_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>transition_model_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>u_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">UKF</a>(const transition_model_t &amp;transition_model, const observation_model_t &amp;observation_model, const double alpha=1e-3, const double kappa=1, const double beta=2)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>x_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>X_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Z_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>z_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
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diff --git a/classmrs__lib_1_1NCUKF.html b/classmrs__lib_1_1NCUKF.html
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+$(document).ready(function(){initNavTree('classmrs__lib_1_1NCUKF.html',''); initResizable(); });
+/* @license-end */
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+<div id="doc-content">
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classmrs__lib_1_1NCUKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1NCUKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1NCUKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:adb3fa88b036f1fc6b80f204cb601ebc7"><td class="memItemLeft" align="right" valign="top"><a id="adb3fa88b036f1fc6b80f204cb601ebc7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>Base_class</b> = <a class="el" href="classmrs__lib_1_1UKF.html">UKF</a>&lt; n, m, p &gt;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>x_t</b> = typename <a class="el" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">Base_class::x_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> = typename std::function&lt; <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>(const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;)&gt;</td></tr>
+<tr class="memdesc:ac515ea8c688d7ee67250c384417f9ab9 inherit pub_types_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">function of the observation model typedef <br /></td></tr>
+<tr class="separator:ac515ea8c688d7ee67250c384417f9ab9 inherit pub_types_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae8bee52a0123cbcb1e898e4785336bf2"><td class="memItemLeft" align="right" valign="top"><a id="ae8bee52a0123cbcb1e898e4785336bf2"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>NCUKF</b> (const transition_model_t &amp;transition_model, const observation_model_t &amp;observation_model, const double l, const double alpha=1e-3, const double kappa=1, const double beta=2)</td></tr>
+<tr class="separator:ae8bee52a0123cbcb1e898e4785336bf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab12dfb8b6ad4c831c761327a3be2d814"><td class="memItemLeft" align="right" valign="top">virtual statecov_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">correct</a> (const statecov_t &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
+<tr class="memdesc:ab12dfb8b6ad4c831c761327a3be2d814"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implements the state correction step (measurement update).  <a href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">More...</a><br /></td></tr>
+<tr class="separator:ab12dfb8b6ad4c831c761327a3be2d814"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1UKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1UKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:acf37d546ec0e03f1ef4c031f96057733 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF</a> ()</td></tr>
+<tr class="memdesc:acf37d546ec0e03f1ef4c031f96057733 inherit pub_methods_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">More...</a><br /></td></tr>
+<tr class="separator:acf37d546ec0e03f1ef4c031f96057733 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43f196bc0b8ef4dd75feba3b025576cb inherit pub_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">UKF</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> &amp;transition_model, const <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> &amp;observation_model, const double alpha=1e-3, const double kappa=1, const double beta=2)</td></tr>
+<tr class="memdesc:a43f196bc0b8ef4dd75feba3b025576cb inherit pub_methods_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">More...</a><br /></td></tr>
+<tr class="separator:a43f196bc0b8ef4dd75feba3b025576cb inherit pub_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c9c1e158bb4b6739b8bfdbdc1369c41 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">predict</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const override</td></tr>
+<tr class="memdesc:a4c9c1e158bb4b6739b8bfdbdc1369c41 inherit pub_methods_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implements the state prediction step (time update).  <a href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">More...</a><br /></td></tr>
+<tr class="separator:a4c9c1e158bb4b6739b8bfdbdc1369c41 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a646b7755aaa478bb86d89e1923d5ed2a inherit pub_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">setConstants</a> (const double alpha, const double kappa, const double beta)</td></tr>
+<tr class="memdesc:a646b7755aaa478bb86d89e1923d5ed2a inherit pub_methods_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the Unscented Transform parameters.  <a href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">More...</a><br /></td></tr>
+<tr class="separator:a646b7755aaa478bb86d89e1923d5ed2a inherit pub_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a724d2e508dd45e4e6cb7b08b023cae34 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">setTransitionModel</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> &amp;transition_model)</td></tr>
+<tr class="memdesc:a724d2e508dd45e4e6cb7b08b023cae34 inherit pub_methods_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the transition model function.  <a href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">More...</a><br /></td></tr>
+<tr class="separator:a724d2e508dd45e4e6cb7b08b023cae34 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a272c7435d05b9a8867df4bd131f01177 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">setObservationModel</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> &amp;observation_model)</td></tr>
+<tr class="memdesc:a272c7435d05b9a8867df4bd131f01177 inherit pub_methods_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the observation model function.  <a href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">More...</a><br /></td></tr>
+<tr class="separator:a272c7435d05b9a8867df4bd131f01177 inherit pub_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:aec3054368ea8d78615a3c8e3ba73d021"><td class="memItemLeft" align="right" valign="top"><a id="aec3054368ea8d78615a3c8e3ba73d021"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>n</b> = n_states</td></tr>
+<tr class="separator:aec3054368ea8d78615a3c8e3ba73d021"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>m</b> = n_inputs</td></tr>
+<tr class="separator:aa3f047a3c23956e6c63cc930b1b16a68"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3d34bf7de1fab932facedcab4e8068c4"><td class="memItemLeft" align="right" valign="top"><a id="a3d34bf7de1fab932facedcab4e8068c4"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>p</b> = n_measurements</td></tr>
+<tr class="separator:a3d34bf7de1fab932facedcab4e8068c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:af48c26afd4a3cfabcddac78b63714946"><td class="memItemLeft" align="right" valign="top"><a id="af48c26afd4a3cfabcddac78b63714946"></a>
+virtual K_t&#160;</td><td class="memItemRight" valign="bottom"><b>computeKalmanGain</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;inn, const K_t &amp;Pxz, const Pzz_t &amp;Pzz) const override</td></tr>
+<tr class="separator:af48c26afd4a3cfabcddac78b63714946"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classmrs__lib_1_1UKF"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classmrs__lib_1_1UKF')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a82f19aab6f21c1c8794024b9ae9d88c9 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="a82f19aab6f21c1c8794024b9ae9d88c9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>computeWeights</b> ()</td></tr>
+<tr class="separator:a82f19aab6f21c1c8794024b9ae9d88c9 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2655c5ad51b0a5c3a7e07430637bd216 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="a2655c5ad51b0a5c3a7e07430637bd216"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeSigmas</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P) const</td></tr>
+<tr class="separator:a2655c5ad51b0a5c3a7e07430637bd216 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2eb18554e24af946d18b3b1f56d6cd9 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="ac2eb18554e24af946d18b3b1f56d6cd9"></a>
+<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computePaSqrt</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P) const</td></tr>
+<tr class="separator:ac2eb18554e24af946d18b3b1f56d6cd9 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d0824ac1a567b4542a6cc26d0672fba inherit pro_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="a2d0824ac1a567b4542a6cc26d0672fba"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeInverse</b> (const <a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> &amp;Pzz) const</td></tr>
+<tr class="separator:a2d0824ac1a567b4542a6cc26d0672fba inherit pro_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad22d268a16cf223c7853225038f02ee6 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="ad22d268a16cf223c7853225038f02ee6"></a>
+virtual <a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeKalmanGain</b> ([[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;inn, const <a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> &amp;Pxz, const <a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> &amp;Pzz) const</td></tr>
+<tr class="separator:ad22d268a16cf223c7853225038f02ee6 inherit pro_methods_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a8511740030abca1b1b1e9aa5c6451639"><td class="memItemLeft" align="right" valign="top"><a id="a8511740030abca1b1b1e9aa5c6451639"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>l</b></td></tr>
+<tr class="separator:a8511740030abca1b1b1e9aa5c6451639"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classmrs__lib_1_1UKF"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classmrs__lib_1_1UKF')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a6fc172677f265d23c58dd44d24f9d00a inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="a6fc172677f265d23c58dd44d24f9d00a"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_alpha</b></td></tr>
+<tr class="separator:a6fc172677f265d23c58dd44d24f9d00a inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc26c675257c6be3eb3d09ac2eece61f inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="afc26c675257c6be3eb3d09ac2eece61f"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_kappa</b></td></tr>
+<tr class="separator:afc26c675257c6be3eb3d09ac2eece61f inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_beta</b></td></tr>
+<tr class="separator:add72fa54f7a0e53cb8d6c804d5bec410 inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_lambda</b></td></tr>
+<tr class="separator:a6b89b8f55bb6574760d2b4eb4281b35a inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a135f047421ef49fb886a3259bf545096 inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_Wc</b></td></tr>
+<tr class="separator:abecb7ce280f0f1ff79d6b094c7a78299 inherit pro_attribs_classmrs__lib_1_1UKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_types_classmrs__lib_1_1UKF"><td colspan="2" onclick="javascript:toggleInherit('pro_types_classmrs__lib_1_1UKF')"><img src="closed.png" alt="-"/>&#160;Protected Types inherited from <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:ae5a0eb2f31131ed4cec117d4a1000080 inherit pro_types_classmrs__lib_1_1UKF"><td class="memItemLeft" align="right" valign="top"><a id="ae5a0eb2f31131ed4cec117d4a1000080"></a>
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+<tr class="memdesc:a81c0e0d290f9eb1aecd28b0e0fa3b7ce inherit pro_static_attribs_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the input vector of the system. <br /></td></tr>
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+<tr class="memdesc:a2bbb3c02f086402351601ca3c3a4c52f inherit pro_static_attribs_classmrs__lib_1_1UKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of sigma points/weights. <br /></td></tr>
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+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab12dfb8b6ad4c831c761327a3be2d814"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab12dfb8b6ad4c831c761327a3be2d814">&#9670;&nbsp;</a></span>correct()</h2>
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+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual statecov_t <a class="el" href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF</a>&lt; n_states, n_inputs, n_measurements &gt;::correct </td>
+          <td>(</td>
+          <td class="paramtype">const statecov_t &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements the state correction step (measurement update). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>Previous estimate of the state and covariance. </td></tr>
+    <tr><td class="paramname">z</td><td>Measurement vector. </td></tr>
+    <tr><td class="paramname">R</td><td>Measurement covariance matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after applying the correction step. </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="nckf_8h_source.html">nckf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1NCUKF.html">NCUKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1NCUKF.js b/classmrs__lib_1_1NCUKF.js
new file mode 100644
index 00000000..8e49af41
--- /dev/null
+++ b/classmrs__lib_1_1NCUKF.js
@@ -0,0 +1,22 @@
+var classmrs__lib_1_1NCUKF =
+[
+    [ "Base_class", "classmrs__lib_1_1NCUKF.html#adb3fa88b036f1fc6b80f204cb601ebc7", null ],
+    [ "K_t", "classmrs__lib_1_1NCUKF.html#a5fb979f0c5139359956a3fdd40f3f535", null ],
+    [ "observation_model_t", "classmrs__lib_1_1NCUKF.html#a45f922267ff95bcad0d4760d5dbf3e49", null ],
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+    [ "Pzz_t", "classmrs__lib_1_1NCUKF.html#a1f0e64b6d2682ae4afdc8f8e59d96674", null ],
+    [ "Q_t", "classmrs__lib_1_1NCUKF.html#acbbd4daa96d9ce0d4fca18dc114a9fb1", null ],
+    [ "R_t", "classmrs__lib_1_1NCUKF.html#a826781b0c822b0f72d8bd9ced7452f81", null ],
+    [ "statecov_t", "classmrs__lib_1_1NCUKF.html#a7d1795ff05b989b2a69b726d7958dae5", null ],
+    [ "transition_model_t", "classmrs__lib_1_1NCUKF.html#a6ad5bf2fb59a2265651708ffe2e6526c", null ],
+    [ "u_t", "classmrs__lib_1_1NCUKF.html#aa65fcd20c676be8399d3016e0203affa", null ],
+    [ "x_t", "classmrs__lib_1_1NCUKF.html#adf38e41db3b8a80c6742b2a2dd6cb7b2", null ],
+    [ "X_t", "classmrs__lib_1_1NCUKF.html#aad37acbc7a2fe813c770ff4a705abf22", null ],
+    [ "z_t", "classmrs__lib_1_1NCUKF.html#ad2b734aae3fea37fc9cfee8c752e5747", null ],
+    [ "Z_t", "classmrs__lib_1_1NCUKF.html#abf3be33e44e56e023d8475eed0062e71", null ],
+    [ "NCUKF", "classmrs__lib_1_1NCUKF.html#ab05d1bc34d4fe3715959b5797bc72bf1", null ],
+    [ "NCUKF", "classmrs__lib_1_1NCUKF.html#ae8bee52a0123cbcb1e898e4785336bf2", null ],
+    [ "computeKalmanGain", "classmrs__lib_1_1NCUKF.html#af48c26afd4a3cfabcddac78b63714946", null ],
+    [ "correct", "classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814", null ],
+    [ "l", "classmrs__lib_1_1NCUKF.html#a8511740030abca1b1b1e9aa5c6451639", null ]
+];
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diff --git a/classmrs__lib_1_1NCUKF__inherit__graph.map b/classmrs__lib_1_1NCUKF__inherit__graph.map
new file mode 100644
index 00000000..813f875a
--- /dev/null
+++ b/classmrs__lib_1_1NCUKF__inherit__graph.map
@@ -0,0 +1,5 @@
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+<area shape="rect" id="node1" title=" " alt="" coords="5,199,223,240"/>
+<area shape="rect" id="node2" href="$classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter ." alt="" coords="5,109,223,151"/>
+<area shape="rect" id="node3" href="$classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="33,5,195,61"/>
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diff --git a/classmrs__lib_1_1NCUKF__inherit__graph.md5 b/classmrs__lib_1_1NCUKF__inherit__graph.md5
new file mode 100644
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>iterate</b>(double &amp;sample_in) (defined in <a class="el" href="classmrs__lib_1_1NotchFilter.html">mrs_lib::NotchFilter</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1NotchFilter.html">mrs_lib::NotchFilter</a></td><td class="entry"></td></tr>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::ParamLoader Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">addYamlFile</a>(const std::string &amp;filepath)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">addYamlFileFromParam</a>(const std::string &amp;param_name)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">getPrefix</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">loadedSuccessfully</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">loadMatrixArray</a>(const std::string &amp;name, std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;mat)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942">loadMatrixArray</a>(const std::string &amp;name, std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;mat, const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">loadMatrixArray2</a>(const std::string &amp;name)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897">loadMatrixArray2</a>(const std::string &amp;name, const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">loadMatrixDynamic</a>(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9">loadMatrixDynamic</a>(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6">loadMatrixDynamic2</a>(const std::string &amp;name, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9">loadMatrixDynamic2</a>(const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a03dc26f5fad92b0fb8b7437c074b23aa">loadMatrixStatic</a>(const std::string &amp;name, Eigen::Matrix&lt; T, rows, cols &gt; &amp;mat)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a19bc5cbd5c3ee7d4614555dfe3d96001">loadMatrixStatic</a>(const std::string &amp;name, Eigen::Matrix&lt; T, rows, cols &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#aafc3bb716f3728d5a1b1cfc45b0d3ddf">loadMatrixStatic</a>(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af96b60fd7bce95d3e1d3aa351bccba9b">loadMatrixStatic</a>(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a2a78e5b64d8681a46976a6e9d0486b1a">loadMatrixStatic2</a>(const std::string &amp;name)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ab6b1b2b00e8548b092893afcfbeee79f">loadMatrixStatic2</a>(const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af06e1f2bdf94f8a18a19ae3e77a0f99a">loadMatrixStatic2</a>(const std::string &amp;name, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577">loadMatrixStatic2</a>(const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed">loadParam</a>(const std::string &amp;name, T &amp;out_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">loadParam</a>(const std::string &amp;name, ros::Duration &amp;out, const ros::Duration &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ae4893dc129c5f6fd07fc26f6c03279cd">loadParam</a>(const std::string &amp;name, ros::Duration &amp;out)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d">loadParam</a>(const std::string &amp;name, std_msgs::ColorRGBA &amp;out, const std_msgs::ColorRGBA &amp;default_value={})</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42">loadParam</a>(const std::string &amp;name, XmlRpc::XmlRpcValue &amp;out, const XmlRpc::XmlRpcValue &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a759df0d67059a44f87d1205782d4e4f7">loadParam</a>(const std::string &amp;name, XmlRpc::XmlRpcValue &amp;out)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a6ee4d78d716c92045a38c40d6ae41c4d">loadParam</a>(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const MatrixX&lt; T &gt; &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>(const std::string &amp;name, const T &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ab8a37a3b88261e120d6ff36a6aebf960">loadParam2</a>(const std::string &amp;name)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">loadParam2</a>(const std::string &amp;name, const std_msgs::ColorRGBA &amp;default_value={})</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">loadParam2</a>(const std::string &amp;name, const XmlRpc::XmlRpcValue &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a080f2c2605b42219c63d62d0fd8e0948">loadParam2</a>(const std::string &amp;name, const MatrixX&lt; T &gt; &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">loadParamReusable</a>(const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0">loadParamReusable</a>(const std::string &amp;name, T &amp;out_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">loadParamReusable2</a>(const std::string &amp;name, const T &amp;default_value)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">loadParamReusable2</a>(const std::string &amp;name)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">ParamLoader</a>(const ros::NodeHandle &amp;nh, bool printValues=true, std::string_view node_name=std::string())</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">ParamLoader</a>(const ros::NodeHandle &amp;nh, std::string_view node_name)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c">ParamLoader</a>(const std::string &amp;filepath, const ros::NodeHandle &amp;nh)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">setPrefix</a>(const std::string &amp;prefix)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1ParamLoader.html b/classmrs__lib_1_1ParamLoader.html
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@@ -0,0 +1,2339 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ParamLoader-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ParamLoader Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Convenience class for loading parameters from rosparam server.  
+ <a href="classmrs__lib_1_1ParamLoader.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="param__loader_8h_source.html">param_loader.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a26079fe045fe261add0548c40c5d3baa"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">ParamLoader</a> (const ros::NodeHandle &amp;nh, bool printValues=true, std::string_view node_name=std::string())</td></tr>
+<tr class="memdesc:a26079fe045fe261add0548c40c5d3baa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main constructor.  <a href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">More...</a><br /></td></tr>
+<tr class="separator:a26079fe045fe261add0548c40c5d3baa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a09d03d4f79736e8269f66ba2f11356c5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">ParamLoader</a> (const ros::NodeHandle &amp;nh, std::string_view node_name)</td></tr>
+<tr class="memdesc:a09d03d4f79736e8269f66ba2f11356c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience overload to enable writing <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> pl(nh, node_name);.  <a href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">More...</a><br /></td></tr>
+<tr class="separator:a09d03d4f79736e8269f66ba2f11356c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac3de917c61f02060c4e28afb2765f71c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c">ParamLoader</a> (const std::string &amp;filepath, const ros::NodeHandle &amp;nh)</td></tr>
+<tr class="memdesc:ac3de917c61f02060c4e28afb2765f71c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience overload to enable writing <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> pl(nh, "node_name");.  <a href="classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c">More...</a><br /></td></tr>
+<tr class="separator:ac3de917c61f02060c4e28afb2765f71c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ad978834d5d6d1745a96f1ecc65a759"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">setPrefix</a> (const std::string &amp;prefix)</td></tr>
+<tr class="memdesc:a8ad978834d5d6d1745a96f1ecc65a759"><td class="mdescLeft">&#160;</td><td class="mdescRight">All loaded parameters will be prefixed with this string.  <a href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">More...</a><br /></td></tr>
+<tr class="separator:a8ad978834d5d6d1745a96f1ecc65a759"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68eb35df103229cd2de7416252723bf8"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">getPrefix</a> ()</td></tr>
+<tr class="memdesc:a68eb35df103229cd2de7416252723bf8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current parameter name prefix.  <a href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">More...</a><br /></td></tr>
+<tr class="separator:a68eb35df103229cd2de7416252723bf8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7e0a9d3c3ca4e85692999f99b51e53e7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">addYamlFile</a> (const std::string &amp;filepath)</td></tr>
+<tr class="memdesc:a7e0a9d3c3ca4e85692999f99b51e53e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds the specified file as a source of static parameters.  <a href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">More...</a><br /></td></tr>
+<tr class="separator:a7e0a9d3c3ca4e85692999f99b51e53e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3ae6c294bc7bcf0fa17557ee36e04b31"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">addYamlFileFromParam</a> (const std::string &amp;param_name)</td></tr>
+<tr class="memdesc:a3ae6c294bc7bcf0fa17557ee36e04b31"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a filepath from a parameter loads that file as a YAML.  <a href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">More...</a><br /></td></tr>
+<tr class="separator:a3ae6c294bc7bcf0fa17557ee36e04b31"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad49130b893f09bc2247e2bc37a41f6d5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">loadedSuccessfully</a> ()</td></tr>
+<tr class="memdesc:ad49130b893f09bc2247e2bc37a41f6d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indicates whether all compulsory parameters were successfully loaded.  <a href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">More...</a><br /></td></tr>
+<tr class="separator:ad49130b893f09bc2247e2bc37a41f6d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e55225fa7d9de0e948b2e64494eb229"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a9e55225fa7d9de0e948b2e64494eb229"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a> (const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</td></tr>
+<tr class="memdesc:a9e55225fa7d9de0e948b2e64494eb229"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a parameter from the rosparam server with a default value.  <a href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">More...</a><br /></td></tr>
+<tr class="separator:a9e55225fa7d9de0e948b2e64494eb229"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b31603059669efa75b00d8e73bc163a"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a7b31603059669efa75b00d8e73bc163a"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a> (const std::string &amp;name, const T &amp;default_value)</td></tr>
+<tr class="memdesc:a7b31603059669efa75b00d8e73bc163a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a parameter from the rosparam server with a default value.  <a href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">More...</a><br /></td></tr>
+<tr class="separator:a7b31603059669efa75b00d8e73bc163a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add294058e4857eda6a8ece7e0b451390"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:add294058e4857eda6a8ece7e0b451390"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">loadParamReusable</a> (const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</td></tr>
+<tr class="memdesc:add294058e4857eda6a8ece7e0b451390"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a parameter from the rosparam server with a default value.  <a href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">More...</a><br /></td></tr>
+<tr class="separator:add294058e4857eda6a8ece7e0b451390"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3e15767c2e94a1f22a9205ae3f507f1"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ae3e15767c2e94a1f22a9205ae3f507f1"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">loadParamReusable2</a> (const std::string &amp;name, const T &amp;default_value)</td></tr>
+<tr class="memdesc:ae3e15767c2e94a1f22a9205ae3f507f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads an optional reusable parameter from the rosparam server.  <a href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">More...</a><br /></td></tr>
+<tr class="separator:ae3e15767c2e94a1f22a9205ae3f507f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af5d9f2ac1549f9a7f03a04b9cebf9fed"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:af5d9f2ac1549f9a7f03a04b9cebf9fed"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed">loadParam</a> (const std::string &amp;name, T &amp;out_value)</td></tr>
+<tr class="memdesc:af5d9f2ac1549f9a7f03a04b9cebf9fed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a compulsory parameter from the rosparam server.  <a href="classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed">More...</a><br /></td></tr>
+<tr class="separator:af5d9f2ac1549f9a7f03a04b9cebf9fed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8a37a3b88261e120d6ff36a6aebf960"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:ab8a37a3b88261e120d6ff36a6aebf960"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ab8a37a3b88261e120d6ff36a6aebf960">loadParam2</a> (const std::string &amp;name)</td></tr>
+<tr class="memdesc:ab8a37a3b88261e120d6ff36a6aebf960"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a compulsory parameter from the rosparam server.  <a href="classmrs__lib_1_1ParamLoader.html#ab8a37a3b88261e120d6ff36a6aebf960">More...</a><br /></td></tr>
+<tr class="separator:ab8a37a3b88261e120d6ff36a6aebf960"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a31b36d7e1109d2c1d663122c689359c0"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a31b36d7e1109d2c1d663122c689359c0"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0">loadParamReusable</a> (const std::string &amp;name, T &amp;out_value)</td></tr>
+<tr class="memdesc:a31b36d7e1109d2c1d663122c689359c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a compulsory parameter from the rosparam server.  <a href="classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0">More...</a><br /></td></tr>
+<tr class="separator:a31b36d7e1109d2c1d663122c689359c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe9a7f5aea80c8cdb2d624c12f098a90"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:abe9a7f5aea80c8cdb2d624c12f098a90"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">loadParamReusable2</a> (const std::string &amp;name)</td></tr>
+<tr class="memdesc:abe9a7f5aea80c8cdb2d624c12f098a90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Loads a compulsory parameter from the rosparam server.  <a href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">More...</a><br /></td></tr>
+<tr class="separator:abe9a7f5aea80c8cdb2d624c12f098a90"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5368f22f9c1eee287b39bcc91b8d8f42"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">loadParam</a> (const std::string &amp;name, ros::Duration &amp;out, const ros::Duration &amp;default_value)</td></tr>
+<tr class="memdesc:a5368f22f9c1eee287b39bcc91b8d8f42"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading ros::Duration.  <a href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">More...</a><br /></td></tr>
+<tr class="separator:a5368f22f9c1eee287b39bcc91b8d8f42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4893dc129c5f6fd07fc26f6c03279cd"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#ae4893dc129c5f6fd07fc26f6c03279cd">loadParam</a> (const std::string &amp;name, ros::Duration &amp;out)</td></tr>
+<tr class="memdesc:ae4893dc129c5f6fd07fc26f6c03279cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading ros::Duration.  <a href="classmrs__lib_1_1ParamLoader.html#ae4893dc129c5f6fd07fc26f6c03279cd">More...</a><br /></td></tr>
+<tr class="separator:ae4893dc129c5f6fd07fc26f6c03279cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a472acaab459f4318dc20df8416b6023d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d">loadParam</a> (const std::string &amp;name, std_msgs::ColorRGBA &amp;out, const std_msgs::ColorRGBA &amp;default_value={})</td></tr>
+<tr class="memdesc:a472acaab459f4318dc20df8416b6023d"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading std_msgs::ColorRGBA.  <a href="classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d">More...</a><br /></td></tr>
+<tr class="separator:a472acaab459f4318dc20df8416b6023d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a708d62a49386efe8334d8c13af2d8f85"><td class="memItemLeft" align="right" valign="top">std_msgs::ColorRGBA&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">loadParam2</a> (const std::string &amp;name, const std_msgs::ColorRGBA &amp;default_value={})</td></tr>
+<tr class="memdesc:a708d62a49386efe8334d8c13af2d8f85"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading std_msgs::ColorRGBA.  <a href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">More...</a><br /></td></tr>
+<tr class="separator:a708d62a49386efe8334d8c13af2d8f85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a297d547c380c4ca1eab5903fcbbc5f42"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42">loadParam</a> (const std::string &amp;name, XmlRpc::XmlRpcValue &amp;out, const XmlRpc::XmlRpcValue &amp;default_value)</td></tr>
+<tr class="memdesc:a297d547c380c4ca1eab5903fcbbc5f42"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading an optional XmlRpc::XmlRpcValue.  <a href="classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42">More...</a><br /></td></tr>
+<tr class="separator:a297d547c380c4ca1eab5903fcbbc5f42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a759df0d67059a44f87d1205782d4e4f7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a759df0d67059a44f87d1205782d4e4f7">loadParam</a> (const std::string &amp;name, XmlRpc::XmlRpcValue &amp;out)</td></tr>
+<tr class="memdesc:a759df0d67059a44f87d1205782d4e4f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading a compulsory XmlRpc::XmlRpcValue.  <a href="classmrs__lib_1_1ParamLoader.html#a759df0d67059a44f87d1205782d4e4f7">More...</a><br /></td></tr>
+<tr class="separator:a759df0d67059a44f87d1205782d4e4f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a880ad3b0f30ecd7b7742766253422c6a"><td class="memItemLeft" align="right" valign="top">XmlRpc::XmlRpcValue&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">loadParam2</a> (const std::string &amp;name, const XmlRpc::XmlRpcValue &amp;default_value)</td></tr>
+<tr class="memdesc:a880ad3b0f30ecd7b7742766253422c6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading an optional XmlRpc::XmlRpcValue.  <a href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">More...</a><br /></td></tr>
+<tr class="separator:a880ad3b0f30ecd7b7742766253422c6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ee4d78d716c92045a38c40d6ae41c4d"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a6ee4d78d716c92045a38c40d6ae41c4d"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a6ee4d78d716c92045a38c40d6ae41c4d">loadParam</a> (const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const MatrixX&lt; T &gt; &amp;default_value)</td></tr>
+<tr class="memdesc:a6ee4d78d716c92045a38c40d6ae41c4d"><td class="mdescLeft">&#160;</td><td class="mdescRight">An overload for loading Eigen matrices.  <a href="classmrs__lib_1_1ParamLoader.html#a6ee4d78d716c92045a38c40d6ae41c4d">More...</a><br /></td></tr>
+<tr class="separator:a6ee4d78d716c92045a38c40d6ae41c4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a080f2c2605b42219c63d62d0fd8e0948"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:a080f2c2605b42219c63d62d0fd8e0948"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a03dc26f5fad92b0fb8b7437c074b23aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#a03dc26f5fad92b0fb8b7437c074b23aa">More...</a><br /></td></tr>
+<tr class="separator:a03dc26f5fad92b0fb8b7437c074b23aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19bc5cbd5c3ee7d4614555dfe3d96001"><td class="memTemplParams" colspan="2">template&lt;int rows, int cols, typename T , typename Derived &gt; </td></tr>
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+<tr class="memdesc:a19bc5cbd5c3ee7d4614555dfe3d96001"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading Eigen matrix parameters with default value.  <a href="classmrs__lib_1_1ParamLoader.html#a19bc5cbd5c3ee7d4614555dfe3d96001">More...</a><br /></td></tr>
+<tr class="separator:a19bc5cbd5c3ee7d4614555dfe3d96001"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a78e5b64d8681a46976a6e9d0486b1a"><td class="memTemplParams" colspan="2">template&lt;int rows, int cols, typename T  = double&gt; </td></tr>
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+<tr class="memdesc:a2a78e5b64d8681a46976a6e9d0486b1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#a2a78e5b64d8681a46976a6e9d0486b1a">More...</a><br /></td></tr>
+<tr class="separator:a2a78e5b64d8681a46976a6e9d0486b1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab6b1b2b00e8548b092893afcfbeee79f"><td class="memTemplParams" colspan="2">template&lt;int rows, int cols, typename T , typename Derived &gt; </td></tr>
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+<tr class="memdesc:ab6b1b2b00e8548b092893afcfbeee79f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading Eigen matrix parameters with default value.  <a href="classmrs__lib_1_1ParamLoader.html#ab6b1b2b00e8548b092893afcfbeee79f">More...</a><br /></td></tr>
+<tr class="separator:ab6b1b2b00e8548b092893afcfbeee79f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aafc3bb716f3728d5a1b1cfc45b0d3ddf"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:aafc3bb716f3728d5a1b1cfc45b0d3ddf"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#aafc3bb716f3728d5a1b1cfc45b0d3ddf">loadMatrixStatic</a> (const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, int rows, int cols)</td></tr>
+<tr class="memdesc:aafc3bb716f3728d5a1b1cfc45b0d3ddf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#aafc3bb716f3728d5a1b1cfc45b0d3ddf">More...</a><br /></td></tr>
+<tr class="separator:aafc3bb716f3728d5a1b1cfc45b0d3ddf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af96b60fd7bce95d3e1d3aa351bccba9b"><td class="memTemplParams" colspan="2">template&lt;typename T , typename Derived &gt; </td></tr>
+<tr class="memitem:af96b60fd7bce95d3e1d3aa351bccba9b"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af96b60fd7bce95d3e1d3aa351bccba9b">loadMatrixStatic</a> (const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td></tr>
+<tr class="memdesc:af96b60fd7bce95d3e1d3aa351bccba9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading Eigen matrix parameters with default value.  <a href="classmrs__lib_1_1ParamLoader.html#af96b60fd7bce95d3e1d3aa351bccba9b">More...</a><br /></td></tr>
+<tr class="separator:af96b60fd7bce95d3e1d3aa351bccba9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af06e1f2bdf94f8a18a19ae3e77a0f99a"><td class="memTemplParams" colspan="2">template&lt;typename T  = double&gt; </td></tr>
+<tr class="memitem:af06e1f2bdf94f8a18a19ae3e77a0f99a"><td class="memTemplItemLeft" align="right" valign="top">MatrixX&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af06e1f2bdf94f8a18a19ae3e77a0f99a">loadMatrixStatic2</a> (const std::string &amp;name, int rows, int cols)</td></tr>
+<tr class="memdesc:af06e1f2bdf94f8a18a19ae3e77a0f99a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#af06e1f2bdf94f8a18a19ae3e77a0f99a">More...</a><br /></td></tr>
+<tr class="separator:af06e1f2bdf94f8a18a19ae3e77a0f99a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8ab00da18479e583adf86983e77c577"><td class="memTemplParams" colspan="2">template&lt;typename T , typename Derived &gt; </td></tr>
+<tr class="memitem:af8ab00da18479e583adf86983e77c577"><td class="memTemplItemLeft" align="right" valign="top">MatrixX&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577">loadMatrixStatic2</a> (const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td></tr>
+<tr class="memdesc:af8ab00da18479e583adf86983e77c577"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading Eigen matrix parameters with default value.  <a href="classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577">More...</a><br /></td></tr>
+<tr class="separator:af8ab00da18479e583adf86983e77c577"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aabecb03ea3643752ddc3154e6c58d390"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:aabecb03ea3643752ddc3154e6c58d390"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">loadMatrixDynamic</a> (const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, int rows, int cols)</td></tr>
+<tr class="memdesc:aabecb03ea3643752ddc3154e6c58d390"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory dynamic Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">More...</a><br /></td></tr>
+<tr class="separator:aabecb03ea3643752ddc3154e6c58d390"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b1fbdb2c1ed41ac533a67abad8638d9"><td class="memTemplParams" colspan="2">template&lt;typename T , typename Derived &gt; </td></tr>
+<tr class="memitem:a6b1fbdb2c1ed41ac533a67abad8638d9"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9">loadMatrixDynamic</a> (const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td></tr>
+<tr class="memdesc:a6b1fbdb2c1ed41ac533a67abad8638d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory dynamic Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9">More...</a><br /></td></tr>
+<tr class="separator:a6b1fbdb2c1ed41ac533a67abad8638d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a89bdbb61a1de508cc0f247f234d824d6"><td class="memTemplParams" colspan="2">template&lt;typename T  = double&gt; </td></tr>
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+<tr class="memdesc:a89bdbb61a1de508cc0f247f234d824d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory dynamic Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6">More...</a><br /></td></tr>
+<tr class="separator:a89bdbb61a1de508cc0f247f234d824d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a99673cb2d8f39c18da5e6db967238ec9"><td class="memTemplParams" colspan="2">template&lt;typename T , typename Derived &gt; </td></tr>
+<tr class="memitem:a99673cb2d8f39c18da5e6db967238ec9"><td class="memTemplItemLeft" align="right" valign="top">MatrixX&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9">loadMatrixDynamic2</a> (const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</td></tr>
+<tr class="memdesc:a99673cb2d8f39c18da5e6db967238ec9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory dynamic Eigen matrix parameters.  <a href="classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9">More...</a><br /></td></tr>
+<tr class="separator:a99673cb2d8f39c18da5e6db967238ec9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af5397147ce0a3ecaf0e1f178a9435183"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:af5397147ce0a3ecaf0e1f178a9435183"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">loadMatrixArray</a> (const std::string &amp;name, std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;mat)</td></tr>
+<tr class="memdesc:af5397147ce0a3ecaf0e1f178a9435183"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.  <a href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">More...</a><br /></td></tr>
+<tr class="separator:af5397147ce0a3ecaf0e1f178a9435183"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaeaec89a76f044b2e5fe2883ae768942"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:aaeaec89a76f044b2e5fe2883ae768942"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942">loadMatrixArray</a> (const std::string &amp;name, std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;mat, const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;default_value)</td></tr>
+<tr class="memdesc:aaeaec89a76f044b2e5fe2883ae768942"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.  <a href="classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942">More...</a><br /></td></tr>
+<tr class="separator:aaeaec89a76f044b2e5fe2883ae768942"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af7ffe39a26bd4a457ab01b83e5d5795d"><td class="memTemplParams" colspan="2">template&lt;typename T  = double&gt; </td></tr>
+<tr class="memitem:af7ffe39a26bd4a457ab01b83e5d5795d"><td class="memTemplItemLeft" align="right" valign="top">std::vector&lt; MatrixX&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">loadMatrixArray2</a> (const std::string &amp;name)</td></tr>
+<tr class="memdesc:af7ffe39a26bd4a457ab01b83e5d5795d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.  <a href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">More...</a><br /></td></tr>
+<tr class="separator:af7ffe39a26bd4a457ab01b83e5d5795d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46bb91300eaa5c0d06d462b950f92897"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a46bb91300eaa5c0d06d462b950f92897"><td class="memTemplItemLeft" align="right" valign="top">std::vector&lt; MatrixX&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897">loadMatrixArray2</a> (const std::string &amp;name, const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;default_value)</td></tr>
+<tr class="memdesc:a46bb91300eaa5c0d06d462b950f92897"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.  <a href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897">More...</a><br /></td></tr>
+<tr class="separator:a46bb91300eaa5c0d06d462b950f92897"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Convenience class for loading parameters from rosparam server. </p>
+<p>The parameters can be loaded as compulsory. If a compulsory parameter is not found on the rosparam server (e.g. because it is missing in the launchfile or the yaml config file), an internal flag is set to false, indicating that the parameter loading procedure failed. This flag can be checked using the loaded_successfully() method after all parameters were attempted to be loaded (see usage example usage below).</p>
+<p>The loaded parameter names and corresponding values are printed to stdout by default for user convenience. Special cases such as loading of Eigen matrices or loading of std::vectors of various values are also provided.</p>
+<p>To load parameters into the <code>rosparam</code> server, use a launchfile prefferably. See documentation of ROS launchfiles here: <a href="http://wiki.ros.org/roslaunch/XML">http://wiki.ros.org/roslaunch/XML</a>. Specifically, the <code>param</code> XML tag is used for loading parameters directly from the launchfile: <a href="http://wiki.ros.org/roslaunch/XML/param,">http://wiki.ros.org/roslaunch/XML/param,</a> and the <code>rosparam</code> XML tag tag is used for loading parameters from a <code>yaml</code> file: <a href="http://wiki.ros.org/roslaunch/XML/rosparam">http://wiki.ros.org/roslaunch/XML/rosparam</a>. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="param_loader_2example_8cpp-example.html#_a0">param_loader/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a26079fe045fe261add0548c40c5d3baa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26079fe045fe261add0548c40c5d3baa">&#9670;&nbsp;</a></span>ParamLoader() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ParamLoader::ParamLoader </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>printValues</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string_view&#160;</td>
+          <td class="paramname"><em>node_name</em> = <code>std::string()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>The parameters will be loaded from rosparam using this node handle. </td></tr>
+    <tr><td class="paramname">printValues</td><td>If true, the loaded values will be printed to stdout using std::cout or ROS_INFO if node_name is not empty. </td></tr>
+    <tr><td class="paramname">node_name</td><td>Optional node name used when printing the loaded values or loading errors. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a09d03d4f79736e8269f66ba2f11356c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09d03d4f79736e8269f66ba2f11356c5">&#9670;&nbsp;</a></span>ParamLoader() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ParamLoader::ParamLoader </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string_view&#160;</td>
+          <td class="paramname"><em>node_name</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience overload to enable writing <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> pl(nh, node_name);. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>The parameters will be loaded from rosparam using this node handle. </td></tr>
+    <tr><td class="paramname">node_name</td><td>Optional node name used when printing the loaded values or loading errors. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac3de917c61f02060c4e28afb2765f71c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3de917c61f02060c4e28afb2765f71c">&#9670;&nbsp;</a></span>ParamLoader() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ParamLoader::ParamLoader </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>filepath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience overload to enable writing <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> pl(nh, "node_name");. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>The parameters will be loaded from rosparam using this node handle. </td></tr>
+    <tr><td class="paramname">node_name</td><td>Optional node name used when printing the loaded values or loading errors. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7e0a9d3c3ca4e85692999f99b51e53e7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e0a9d3c3ca4e85692999f99b51e53e7">&#9670;&nbsp;</a></span>addYamlFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::addYamlFile </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>filepath</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds the specified file as a source of static parameters. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">filepath</td><td>The full path to the yaml file to be loaded. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if loading and parsing the file was successful, false otherwise. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="param_loader_2example_8cpp-example.html#a3">param_loader/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a3ae6c294bc7bcf0fa17557ee36e04b31"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3ae6c294bc7bcf0fa17557ee36e04b31">&#9670;&nbsp;</a></span>addYamlFileFromParam()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::addYamlFileFromParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>param_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a filepath from a parameter loads that file as a YAML. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">param_name</td><td>Name of the parameter from which to load the YAML filename to be loaded. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if loading and parsing the file was successful, false otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a68eb35df103229cd2de7416252723bf8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68eb35df103229cd2de7416252723bf8">&#9670;&nbsp;</a></span>getPrefix()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string mrs_lib::ParamLoader::getPrefix </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the current parameter name prefix. </p>
+<dl class="section return"><dt>Returns</dt><dd>the current prefix to be applied to the loaded parameters. </dd></dl>
+
+</div>
+</div>
+<a id="ad49130b893f09bc2247e2bc37a41f6d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad49130b893f09bc2247e2bc37a41f6d5">&#9670;&nbsp;</a></span>loadedSuccessfully()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadedSuccessfully </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Indicates whether all compulsory parameters were successfully loaded. </p>
+<dl class="section return"><dt>Returns</dt><dd>false if any compulsory parameter was not loaded (is not present at rosparam server). Otherwise returns true. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="param_loader_2example_8cpp-example.html#a4">param_loader/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="af5397147ce0a3ecaf0e1f178a9435183"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5397147ce0a3ecaf0e1f178a9435183">&#9670;&nbsp;</a></span>loadMatrixArray() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixArray </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices. </p>
+<p>The number of rows and columns of the matrices to be loaded is specified in the <code>rosparam</code> parameter. Specifically, the <code>name/rows</code> value specifies the number of rows, which must be common to all the loaded matrices (i.e. it is one integer &gt;= 0), and the <code>name/cols</code> value specifies the number of columns of each matrix (i.e. it is an array of integers &gt; 0). The <code>name/data</code> array contains the values of the elements of the matrices and it must have length <img class="formulaInl" alt="$ r\sum_i c_i $" src="form_31.png"/>, where <img class="formulaInl" alt="$ r $" src="form_21.png"/> is the common number of rows and <img class="formulaInl" alt="$ c_i $" src="form_32.png"/> is the number of columns of the <img class="formulaInl" alt="$ i $" src="form_33.png"/>-th matrix. A typical structure of a <code>yaml</code> file, specifying the matrix array to be loaded using this method, is</p>
+<div class="fragment"><div class="line">matrix_array:</div>
+<div class="line">  rows: 3</div>
+<div class="line">  cols: [1, 2]</div>
+<div class="line">  data: [-5.0, 0.0, 23.0,</div>
+<div class="line">         -5.0, 0.0, 12.0,</div>
+<div class="line">          2.0,   4.0,  7.0]</div>
+</div><!-- fragment --><p>which will be loaded as a <code>std::vector</code>, containing one <img class="formulaInl" alt="$ 3\times 1 $" src="form_34.png"/> matrix and one <img class="formulaInl" alt="$ 3\times 2 $" src="form_35.png"/> matrix.</p>
+<p>If the dimensions of the loaded matrices do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the <code>rosparam</code> server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aaeaec89a76f044b2e5fe2883ae768942"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaeaec89a76f044b2e5fe2883ae768942">&#9670;&nbsp;</a></span>loadMatrixArray() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixArray </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices. </p>
+<p>This overload of the <a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183" title="Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...">loadMatrixArray()</a> method takes a default value for the parameter, which is used in case a <code>rosparam</code> with the specified name is not found in the <code>rosparam</code> server, instead of causing an unsuccessful load. This makes specifying the parameter value in the <code>rosparam</code> server optional.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>The default value to be used in case the parameter is not found on the <code>rosparam</code> server. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af7ffe39a26bd4a457ab01b83e5d5795d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af7ffe39a26bd4a457ab01b83e5d5795d">&#9670;&nbsp;</a></span>loadMatrixArray2() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T  = double&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;MatrixX&lt;T&gt; &gt; mrs_lib::ParamLoader::loadMatrixArray2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices. </p>
+<p>This method works in the same way as the <a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183" title="Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...">loadMatrixArray()</a> method for compulsory parameters, except that the loaded parameter is returned and not stored in the reference parameter.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter or a default constructed object of the respective type. </dd></dl>
+
+</div>
+</div>
+<a id="a46bb91300eaa5c0d06d462b950f92897"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46bb91300eaa5c0d06d462b950f92897">&#9670;&nbsp;</a></span>loadMatrixArray2() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;MatrixX&lt;T&gt; &gt; mrs_lib::ParamLoader::loadMatrixArray2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices. </p>
+<p>This method works in the same way as the <a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183" title="Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...">loadMatrixArray()</a> method for optional parameters, except that the loaded parameter is returned and not stored in the reference parameter.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>The default value to be used in case the parameter is not found on the <code>rosparam</code> server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter or the default value. </dd></dl>
+
+</div>
+</div>
+<a id="a6b1fbdb2c1ed41ac533a67abad8638d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b1fbdb2c1ed41ac533a67abad8638d9">&#9670;&nbsp;</a></span>loadMatrixDynamic() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename Derived &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixDynamic </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::MatrixBase&lt; Derived &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory dynamic Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array). </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aabecb03ea3643752ddc3154e6c58d390"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabecb03ea3643752ddc3154e6c58d390">&#9670;&nbsp;</a></span>loadMatrixDynamic() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixDynamic </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory dynamic Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array). </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a99673cb2d8f39c18da5e6db967238ec9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a99673cb2d8f39c18da5e6db967238ec9">&#9670;&nbsp;</a></span>loadMatrixDynamic2() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename Derived &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">MatrixX&lt;T&gt; mrs_lib::ParamLoader::loadMatrixDynamic2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::MatrixBase&lt; Derived &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory dynamic Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array). </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a89bdbb61a1de508cc0f247f234d824d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a89bdbb61a1de508cc0f247f234d824d6">&#9670;&nbsp;</a></span>loadMatrixDynamic2() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T  = double&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">MatrixX&lt;T&gt; mrs_lib::ParamLoader::loadMatrixDynamic2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory dynamic Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array). </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a03dc26f5fad92b0fb8b7437c074b23aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03dc26f5fad92b0fb8b7437c074b23aa">&#9670;&nbsp;</a></span>loadMatrixStatic() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int rows, int cols, typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixStatic </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; T, rows, cols &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a19bc5cbd5c3ee7d4614555dfe3d96001"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19bc5cbd5c3ee7d4614555dfe3d96001">&#9670;&nbsp;</a></span>loadMatrixStatic() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int rows, int cols, typename T , typename Derived &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixStatic </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Matrix&lt; T, rows, cols &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::MatrixBase&lt; Derived &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading Eigen matrix parameters with default value. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af96b60fd7bce95d3e1d3aa351bccba9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af96b60fd7bce95d3e1d3aa351bccba9b">&#9670;&nbsp;</a></span>loadMatrixStatic() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename Derived &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixStatic </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::MatrixBase&lt; Derived &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading Eigen matrix parameters with default value. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aafc3bb716f3728d5a1b1cfc45b0d3ddf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafc3bb716f3728d5a1b1cfc45b0d3ddf">&#9670;&nbsp;</a></span>loadMatrixStatic() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadMatrixStatic </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">mat</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2a78e5b64d8681a46976a6e9d0486b1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a78e5b64d8681a46976a6e9d0486b1a">&#9670;&nbsp;</a></span>loadMatrixStatic2() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int rows, int cols, typename T  = double&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Eigen::Matrix&lt;T, rows, cols&gt; mrs_lib::ParamLoader::loadMatrixStatic2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="ab6b1b2b00e8548b092893afcfbeee79f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab6b1b2b00e8548b092893afcfbeee79f">&#9670;&nbsp;</a></span>loadMatrixStatic2() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int rows, int cols, typename T , typename Derived &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Eigen::Matrix&lt;T, rows, cols&gt; mrs_lib::ParamLoader::loadMatrixStatic2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::MatrixBase&lt; Derived &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading Eigen matrix parameters with default value. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="af8ab00da18479e583adf86983e77c577"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8ab00da18479e583adf86983e77c577">&#9670;&nbsp;</a></span>loadMatrixStatic2() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T , typename Derived &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">MatrixX&lt;T&gt; mrs_lib::ParamLoader::loadMatrixStatic2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::MatrixBase&lt; Derived &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading Eigen matrix parameters with default value. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="af06e1f2bdf94f8a18a19ae3e77a0f99a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af06e1f2bdf94f8a18a19ae3e77a0f99a">&#9670;&nbsp;</a></span>loadMatrixStatic2() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T  = double&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">MatrixX&lt;T&gt; mrs_lib::ParamLoader::loadMatrixStatic2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>rows</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cols</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Specialized method for loading compulsory Eigen matrix parameters. </p>
+<p>If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false). If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">rows</td><td>Expected number of rows of the matrix. </td></tr>
+    <tr><td class="paramname">cols</td><td>Expected number of columns of the matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a6ee4d78d716c92045a38c40d6ae41c4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ee4d78d716c92045a38c40d6ae41c4d">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[1/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>mat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading Eigen matrices. </p>
+<p>For compulsory Eigen matrices, use <a class="el" href="classmrs__lib_1_1ParamLoader.html#a03dc26f5fad92b0fb8b7437c074b23aa" title="Specialized method for loading compulsory Eigen matrix parameters.">loadMatrixStatic()</a> or <a class="el" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390" title="Specialized method for loading compulsory dynamic Eigen matrix parameters.">loadMatrixDynamic()</a>. Matrix dimensions are deduced from the provided default value. If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae4893dc129c5f6fd07fc26f6c03279cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4893dc129c5f6fd07fc26f6c03279cd">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[2/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>out</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading ros::Duration. </p>
+<p>The duration will be loaded as a <code>double</code>, representing a number of seconds, and then converted to ros::Duration.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="a5368f22f9c1eee287b39bcc91b8d8f42"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5368f22f9c1eee287b39bcc91b8d8f42">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[3/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>out</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading ros::Duration. </p>
+<p>The duration will be loaded as a <code>double</code>, representing a number of seconds, and then converted to ros::Duration.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="a472acaab459f4318dc20df8416b6023d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a472acaab459f4318dc20df8416b6023d">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[4/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std_msgs::ColorRGBA &amp;&#160;</td>
+          <td class="paramname"><em>out</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std_msgs::ColorRGBA &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em> = <code>{}</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading std_msgs::ColorRGBA. </p>
+<p>The color will be loaded as several <code>double</code> -typed variables, representing the R, G, B and A color elements.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="af5d9f2ac1549f9a7f03a04b9cebf9fed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5d9f2ac1549f9a7f03a04b9cebf9fed">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[5/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>out_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a compulsory parameter from the rosparam server. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful (loaded_successfully() will return false). Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="a9e55225fa7d9de0e948b2e64494eb229"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e55225fa7d9de0e948b2e64494eb229">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[6/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>out_value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a parameter from the rosparam server with a default value. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="param_loader_2example_8cpp-example.html#a1">param_loader/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a759df0d67059a44f87d1205782d4e4f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a759df0d67059a44f87d1205782d4e4f7">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[7/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">XmlRpc::XmlRpcValue &amp;&#160;</td>
+          <td class="paramname"><em>out</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading a compulsory XmlRpc::XmlRpcValue. </p>
+<p>This can be used if you want to manually parse some more complex parameter but still take advantage of <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a>. </p><dl class="section warning"><dt>Warning</dt><dd>XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file (i.e. you cannot use it to load parameters from a file added using the <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7" title="Adds the specified file as a source of static parameters.">addYamlFile()</a> or <a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31" title="Loads a filepath from a parameter loads that file as a YAML.">addYamlFileFromParam()</a> methods).</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="a297d547c380c4ca1eab5903fcbbc5f42"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a297d547c380c4ca1eab5903fcbbc5f42">&#9670;&nbsp;</a></span>loadParam() <span class="overload">[8/8]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">XmlRpc::XmlRpcValue &amp;&#160;</td>
+          <td class="paramname"><em>out</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const XmlRpc::XmlRpcValue &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading an optional XmlRpc::XmlRpcValue. </p>
+<p>This can be used if you want to manually parse some more complex parameter but still take advantage of <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a>. </p><dl class="section warning"><dt>Warning</dt><dd>XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file (i.e. you cannot use it to load parameters from a file added using the <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7" title="Adds the specified file as a source of static parameters.">addYamlFile()</a> or <a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31" title="Loads a filepath from a parameter loads that file as a YAML.">addYamlFileFromParam()</a> methods).</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="ab8a37a3b88261e120d6ff36a6aebf960"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8a37a3b88261e120d6ff36a6aebf960">&#9670;&nbsp;</a></span>loadParam2() <span class="overload">[1/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">T mrs_lib::ParamLoader::loadParam2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a compulsory parameter from the rosparam server. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful (loaded_successfully() will return false). Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a080f2c2605b42219c63d62d0fd8e0948"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a080f2c2605b42219c63d62d0fd8e0948">&#9670;&nbsp;</a></span>loadParam2() <span class="overload">[2/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">MatrixX&lt;T&gt; mrs_lib::ParamLoader::loadParam2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const MatrixX&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading Eigen matrices. </p>
+<p>For compulsory Eigen matrices, use <a class="el" href="classmrs__lib_1_1ParamLoader.html#a03dc26f5fad92b0fb8b7437c074b23aa" title="Specialized method for loading compulsory Eigen matrix parameters.">loadMatrixStatic()</a> or <a class="el" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390" title="Specialized method for loading compulsory dynamic Eigen matrix parameters.">loadMatrixDynamic()</a>. Matrix dimensions are deduced from the provided default value. If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a708d62a49386efe8334d8c13af2d8f85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a708d62a49386efe8334d8c13af2d8f85">&#9670;&nbsp;</a></span>loadParam2() <span class="overload">[3/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std_msgs::ColorRGBA mrs_lib::ParamLoader::loadParam2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std_msgs::ColorRGBA &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em> = <code>{}</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading std_msgs::ColorRGBA. </p>
+<p>The color will be loaded as several <code>double</code> -typed variables, representing the R, G, B and A color elements.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a7b31603059669efa75b00d8e73bc163a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b31603059669efa75b00d8e73bc163a">&#9670;&nbsp;</a></span>loadParam2() <span class="overload">[4/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">T mrs_lib::ParamLoader::loadParam2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a parameter from the rosparam server with a default value. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can only be loaded once using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="param_loader_2example_8cpp-example.html#a2">param_loader/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a880ad3b0f30ecd7b7742766253422c6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a880ad3b0f30ecd7b7742766253422c6a">&#9670;&nbsp;</a></span>loadParam2() <span class="overload">[5/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const XmlRpc::XmlRpcValue &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>An overload for loading an optional XmlRpc::XmlRpcValue. </p>
+<p>This can be used if you want to manually parse some more complex parameter but still take advantage of <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a>. </p><dl class="section warning"><dt>Warning</dt><dd>XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file (i.e. you cannot use it to load parameters from a file added using the <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7" title="Adds the specified file as a source of static parameters.">addYamlFile()</a> or <a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31" title="Loads a filepath from a parameter loads that file as a YAML.">addYamlFileFromParam()</a> methods).</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the loaded parameter. </dd></dl>
+
+</div>
+</div>
+<a id="a31b36d7e1109d2c1d663122c689359c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31b36d7e1109d2c1d663122c689359c0">&#9670;&nbsp;</a></span>loadParamReusable() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParamReusable </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>out_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a compulsory parameter from the rosparam server. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful (loaded_successfully() will return false). Using this method, the parameter can be loaded multiple times using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="add294058e4857eda6a8ece7e0b451390"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add294058e4857eda6a8ece7e0b451390">&#9670;&nbsp;</a></span>loadParamReusable() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamLoader::loadParamReusable </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>out_value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a parameter from the rosparam server with a default value. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can be loaded multiple times using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">out_value</td><td>Reference to the variable to which the parameter value will be stored (such as a class member variable). </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the parameter was loaded from <code>rosparam</code>, false if the default value was used. </dd></dl>
+
+</div>
+</div>
+<a id="abe9a7f5aea80c8cdb2d624c12f098a90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe9a7f5aea80c8cdb2d624c12f098a90">&#9670;&nbsp;</a></span>loadParamReusable2() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">T mrs_lib::ParamLoader::loadParamReusable2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads a compulsory parameter from the rosparam server. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the loading process is unsuccessful (loaded_successfully() will return false). Using this method, the parameter can be loaded multiple times using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="ae3e15767c2e94a1f22a9205ae3f507f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3e15767c2e94a1f22a9205ae3f507f1">&#9670;&nbsp;</a></span>loadParamReusable2() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">T mrs_lib::ParamLoader::loadParamReusable2 </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Loads an optional reusable parameter from the rosparam server. </p>
+<p>If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file), the default value is used. Using this method, the parameter can be loaded multiple times using the same <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> instance without error.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a8ad978834d5d6d1745a96f1ecc65a759"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ad978834d5d6d1745a96f1ecc65a759">&#9670;&nbsp;</a></span>setPrefix()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ParamLoader::setPrefix </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>prefix</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>All loaded parameters will be prefixed with this string. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">prefix</td><td>the prefix to be applied to all loaded parameters from now on. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="param__loader_8h_source.html">param_loader.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1ParamLoader.html">ParamLoader</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1ParamLoader.js b/classmrs__lib_1_1ParamLoader.js
new file mode 100644
index 00000000..932d5c33
--- /dev/null
+++ b/classmrs__lib_1_1ParamLoader.js
@@ -0,0 +1,44 @@
+var classmrs__lib_1_1ParamLoader =
+[
+    [ "ParamLoader", "classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa", null ],
+    [ "ParamLoader", "classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5", null ],
+    [ "ParamLoader", "classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c", null ],
+    [ "addYamlFile", "classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7", null ],
+    [ "addYamlFileFromParam", "classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31", null ],
+    [ "getPrefix", "classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8", null ],
+    [ "loadedSuccessfully", "classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5", null ],
+    [ "loadMatrixArray", "classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183", null ],
+    [ "loadMatrixArray", "classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942", null ],
+    [ "loadMatrixArray2", "classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d", null ],
+    [ "loadMatrixArray2", "classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897", null ],
+    [ "loadMatrixDynamic", "classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9", null ],
+    [ "loadMatrixDynamic", "classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390", null ],
+    [ "loadMatrixDynamic2", "classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9", null ],
+    [ "loadMatrixDynamic2", "classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6", null ],
+    [ "loadMatrixStatic", "classmrs__lib_1_1ParamLoader.html#a03dc26f5fad92b0fb8b7437c074b23aa", null ],
+    [ "loadMatrixStatic", "classmrs__lib_1_1ParamLoader.html#a19bc5cbd5c3ee7d4614555dfe3d96001", null ],
+    [ "loadMatrixStatic", "classmrs__lib_1_1ParamLoader.html#af96b60fd7bce95d3e1d3aa351bccba9b", null ],
+    [ "loadMatrixStatic", "classmrs__lib_1_1ParamLoader.html#aafc3bb716f3728d5a1b1cfc45b0d3ddf", null ],
+    [ "loadMatrixStatic2", "classmrs__lib_1_1ParamLoader.html#a2a78e5b64d8681a46976a6e9d0486b1a", null ],
+    [ "loadMatrixStatic2", "classmrs__lib_1_1ParamLoader.html#ab6b1b2b00e8548b092893afcfbeee79f", null ],
+    [ "loadMatrixStatic2", "classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577", null ],
+    [ "loadMatrixStatic2", "classmrs__lib_1_1ParamLoader.html#af06e1f2bdf94f8a18a19ae3e77a0f99a", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#a6ee4d78d716c92045a38c40d6ae41c4d", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#ae4893dc129c5f6fd07fc26f6c03279cd", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#a759df0d67059a44f87d1205782d4e4f7", null ],
+    [ "loadParam", "classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42", null ],
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+    [ "loadParam2", "classmrs__lib_1_1ParamLoader.html#a080f2c2605b42219c63d62d0fd8e0948", null ],
+    [ "loadParam2", "classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85", null ],
+    [ "loadParam2", "classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a", null ],
+    [ "loadParam2", "classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a", null ],
+    [ "loadParamReusable", "classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0", null ],
+    [ "loadParamReusable", "classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390", null ],
+    [ "loadParamReusable2", "classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90", null ],
+    [ "loadParamReusable2", "classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1", null ],
+    [ "setPrefix", "classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759", null ]
+];
\ No newline at end of file
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new file mode 100644
index 00000000..017f137c
--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1ParamProvider.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::ParamProvider Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">addYamlFile</a>(const std::string &amp;filepath)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(const std::string &amp;param_name, T &amp;value_out) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html#aa3106f4d258195b890e8583d485c7547">getParam</a>(const std::string &amp;param_name, XmlRpc::XmlRpcValue &amp;value_out) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">ParamProvider</a>(const ros::NodeHandle &amp;nh, std::string node_name, const bool use_rosparam=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1ParamProvider.html b/classmrs__lib_1_1ParamProvider.html
new file mode 100644
index 00000000..bc4e63d7
--- /dev/null
+++ b/classmrs__lib_1_1ParamProvider.html
@@ -0,0 +1,289 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::ParamProvider Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1ParamProvider.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ParamProvider-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ParamProvider Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Helper class for <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a>.  
+ <a href="classmrs__lib_1_1ParamProvider.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="param__provider_8h_source.html">param_provider.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aa6f38dd58d2fd1093d6646134a5d6e59"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">ParamProvider</a> (const ros::NodeHandle &amp;nh, std::string node_name, const bool use_rosparam=true)</td></tr>
+<tr class="memdesc:aa6f38dd58d2fd1093d6646134a5d6e59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main constructor.  <a href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">More...</a><br /></td></tr>
+<tr class="separator:aa6f38dd58d2fd1093d6646134a5d6e59"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a137506901a03daeaaebcb5544de777f0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">addYamlFile</a> (const std::string &amp;filepath)</td></tr>
+<tr class="memdesc:a137506901a03daeaaebcb5544de777f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a YAML file to be parsed and used for loading parameters.  <a href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">More...</a><br /></td></tr>
+<tr class="separator:a137506901a03daeaaebcb5544de777f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b3be6133e7eecc3f15b3c898c0911e0"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a6b3be6133e7eecc3f15b3c898c0911e0"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a> (const std::string &amp;param_name, T &amp;value_out) const</td></tr>
+<tr class="memdesc:a6b3be6133e7eecc3f15b3c898c0911e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the value of a parameter.  <a href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">More...</a><br /></td></tr>
+<tr class="separator:a6b3be6133e7eecc3f15b3c898c0911e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa3106f4d258195b890e8583d485c7547"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamProvider.html#aa3106f4d258195b890e8583d485c7547">getParam</a> (const std::string &amp;param_name, XmlRpc::XmlRpcValue &amp;value_out) const</td></tr>
+<tr class="memdesc:aa3106f4d258195b890e8583d485c7547"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specialization of <a class="el" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0" title="Gets the value of a parameter.">getParam()</a> for the XmlRpcValue type.  <a href="classmrs__lib_1_1ParamProvider.html#aa3106f4d258195b890e8583d485c7547">More...</a><br /></td></tr>
+<tr class="separator:aa3106f4d258195b890e8583d485c7547"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Helper class for <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a>. </p>
+<p>This class abstracts away loading of parameters from ROS parameter server and directly from YAML files ("static" parameters). The user can specify a number of YAML files that will be parsed and when a parameter value is requested, these are checked first before attempting to load the parameter from the ROS server (which can be slow). The YAML files are searched in FIFO order and when a matching name is found in a file, its value is returned. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa6f38dd58d2fd1093d6646134a5d6e59"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6f38dd58d2fd1093d6646134a5d6e59">&#9670;&nbsp;</a></span>ParamProvider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ParamProvider::ParamProvider </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>node_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>use_rosparam</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>The parameters will be loaded from rosparam using this node handle. </td></tr>
+    <tr><td class="paramname">node_name</td><td>Optional node name used when printing the loaded values or loading errors. </td></tr>
+    <tr><td class="paramname">use_rosparam</td><td>If true, parameters that weren't found in the YAML files will be attempted to be loaded from ROS. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a137506901a03daeaaebcb5544de777f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a137506901a03daeaaebcb5544de777f0">&#9670;&nbsp;</a></span>addYamlFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamProvider::addYamlFile </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>filepath</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add a YAML file to be parsed and used for loading parameters. </p>
+<p>The first file added will be the first file searched for a parameter when using <a class="el" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0" title="Gets the value of a parameter.">getParam()</a>.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">filepath</td><td>Path to the YAML file. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6b3be6133e7eecc3f15b3c898c0911e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b3be6133e7eecc3f15b3c898c0911e0">&#9670;&nbsp;</a></span>getParam() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamProvider::getParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>param_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>value_out</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the value of a parameter. </p>
+<p>Firstly, the parameter is attempted to be loaded from the YAML files added by the <a class="el" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0" title="Add a YAML file to be parsed and used for loading parameters.">addYamlFile()</a> method in the same order that they were added. If the parameter is not found in any YAML file, and the use_rosparam flag of the constructor is true, the <a class="el" href="classmrs__lib_1_1ParamProvider.html" title="Helper class for ParamLoader.">ParamProvider</a> will attempt to load it from the ROS parameter server.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">param_name</td><td>Name of the parameter to be loaded. Namespaces should be separated with a forward slash '/'. </td></tr>
+    <tr><td class="paramname">value_out</td><td>Output argument that will hold the value of the loaded parameter, if successfull. Not modified otherwise. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Returns true iff the parameter was successfully loaded. </dd></dl>
+
+</div>
+</div>
+<a id="aa3106f4d258195b890e8583d485c7547"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3106f4d258195b890e8583d485c7547">&#9670;&nbsp;</a></span>getParam() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ParamProvider::getParam </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>param_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">XmlRpc::XmlRpcValue &amp;&#160;</td>
+          <td class="paramname"><em>value_out</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Specialization of <a class="el" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0" title="Gets the value of a parameter.">getParam()</a> for the XmlRpcValue type. </p>
+<p>The XmlRpc::XmlRpcValue can be useful for manual parsing of more complex types.</p>
+<dl class="section warning"><dt>Warning</dt><dd>XmlRpc::XmlRpcValue parameters cannot be loaded from a YAML file - only from ROS!</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">param_name</td><td>Name of the parameter to be loaded. Namespaces should be separated with a forward slash '/'. </td></tr>
+    <tr><td class="paramname">value_out</td><td>Output argument that will hold the value of the loaded parameter, if successfull. Not modified otherwise. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Returns true iff the parameter was successfully loaded. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="param__provider_8h_source.html">param_provider.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="param__provider_8hpp_source.html">param_provider.hpp</a></li>
+<li>src/param_loader/param_provider.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1ParamProvider.html">ParamProvider</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "addYamlFile", "classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0", null ],
+    [ "getParam", "classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0", null ],
+    [ "getParam", "classmrs__lib_1_1ParamProvider.html#aa3106f4d258195b890e8583d485c7547", null ]
+];
\ No newline at end of file
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1Polygon.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::Polygon Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>doesSectionIntersect</b>(const double startX, const double startY, const double endX, const double endY) (defined in <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getPointMessageVector</b>(const double z) (defined in <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>inflateSelf</b>(double amount) (defined in <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>isClockwise</b>() (defined in <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>isPointInside</b>(const double px, const double py) (defined in <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Polygon</b>(const Eigen::MatrixXd vertices) (defined in <a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1Polygon.html b/classmrs__lib_1_1Polygon.html
new file mode 100644
index 00000000..348149b0
--- /dev/null
+++ b/classmrs__lib_1_1Polygon.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::Polygon Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+<tr class="separator:ac384b6aa30ce0f43ee8d38eaad93ca28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae054cd2655538ee7b4a0dec35aa0cf16"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Profiler.html#ae054cd2655538ee7b4a0dec35aa0cf16">operator=</a> (const <a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a> &amp;other)</td></tr>
+<tr class="memdesc:ae054cd2655538ee7b4a0dec35aa0cf16"><td class="mdescLeft">&#160;</td><td class="mdescRight">the assignment operator  <a href="classmrs__lib_1_1Profiler.html#ae054cd2655538ee7b4a0dec35aa0cf16">More...</a><br /></td></tr>
+<tr class="separator:ae054cd2655538ee7b4a0dec35aa0cf16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf170ec3c6f67e11931cde978a5d3750"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Routine.html">Routine</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Profiler.html#aaf170ec3c6f67e11931cde978a5d3750">createRoutine</a> (std::string name, double expected_rate, double threshold, ros::TimerEvent event)</td></tr>
+<tr class="memdesc:aaf170ec3c6f67e11931cde978a5d3750"><td class="mdescLeft">&#160;</td><td class="mdescRight">create a routine for a periodic function  <a href="classmrs__lib_1_1Profiler.html#aaf170ec3c6f67e11931cde978a5d3750">More...</a><br /></td></tr>
+<tr class="separator:aaf170ec3c6f67e11931cde978a5d3750"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a631e75be501cf4353dc8578bd9f66029"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Routine.html">Routine</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Profiler.html#a631e75be501cf4353dc8578bd9f66029">createRoutine</a> (std::string name)</td></tr>
+<tr class="memdesc:a631e75be501cf4353dc8578bd9f66029"><td class="mdescLeft">&#160;</td><td class="mdescRight">create a routine for an aperiodic function  <a href="classmrs__lib_1_1Profiler.html#a631e75be501cf4353dc8578bd9f66029">More...</a><br /></td></tr>
+<tr class="separator:a631e75be501cf4353dc8578bd9f66029"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1a61b447fb65e1d09a0bd6dab57c73eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a61b447fb65e1d09a0bd6dab57c73eb">&#9670;&nbsp;</a></span>Profiler() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Profiler::Profiler </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>node_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>profiler_enabled</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>the full constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>node handle </td></tr>
+    <tr><td class="paramname">node_name</td><td>the node name </td></tr>
+    <tr><td class="paramname">profiler_enabled</td><td>if profiling is enabled </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac384b6aa30ce0f43ee8d38eaad93ca28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac384b6aa30ce0f43ee8d38eaad93ca28">&#9670;&nbsp;</a></span>Profiler() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Profiler::Profiler </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>the copy constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the other object </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a631e75be501cf4353dc8578bd9f66029"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a631e75be501cf4353dc8578bd9f66029">&#9670;&nbsp;</a></span>createRoutine() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Routine.html">Routine</a> mrs_lib::Profiler::createRoutine </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>create a routine for an aperiodic function </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>the function name</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the <a class="el" href="classmrs__lib_1_1Routine.html">Routine</a> </dd></dl>
+
+</div>
+</div>
+<a id="aaf170ec3c6f67e11931cde978a5d3750"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf170ec3c6f67e11931cde978a5d3750">&#9670;&nbsp;</a></span>createRoutine() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Routine.html">Routine</a> mrs_lib::Profiler::createRoutine </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>expected_rate</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>threshold</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ros::TimerEvent&#160;</td>
+          <td class="paramname"><em>event</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>create a routine for a periodic function </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>the function name </td></tr>
+    <tr><td class="paramname">expected_rate</td><td>the expected rate in Hz </td></tr>
+    <tr><td class="paramname">threshold</td><td>the delay threshold to mark it as "late" in s </td></tr>
+    <tr><td class="paramname">event</td><td>the ros Timer event</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the <a class="el" href="classmrs__lib_1_1Routine.html">Routine</a> </dd></dl>
+
+</div>
+</div>
+<a id="ae054cd2655538ee7b4a0dec35aa0cf16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae054cd2655538ee7b4a0dec35aa0cf16">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a> &amp; mrs_lib::Profiler::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>the assignment operator </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the other object</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>this object </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="profiler_8h_source.html">profiler.h</a></li>
+<li>src/profiler/profiler.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "Profiler", "classmrs__lib_1_1Profiler.html#a1a61b447fb65e1d09a0bd6dab57c73eb", null ],
+    [ "Profiler", "classmrs__lib_1_1Profiler.html#ac384b6aa30ce0f43ee8d38eaad93ca28", null ],
+    [ "createRoutine", "classmrs__lib_1_1Profiler.html#a631e75be501cf4353dc8578bd9f66029", null ],
+    [ "createRoutine", "classmrs__lib_1_1Profiler.html#aaf170ec3c6f67e11931cde978a5d3750", null ],
+    [ "operator=", "classmrs__lib_1_1Profiler.html#ae054cd2655538ee7b4a0dec35aa0cf16", null ]
+];
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::PublisherHandler&lt; TopicType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">getNumSubscribers</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">operator=</a>(const PublisherHandler &amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">publish</a>(const TopicType &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a3201fd4703f7e9cec24de7bc189356a5">publish</a>(const boost::shared_ptr&lt; TopicType &gt; &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#ace9906a5cf9ae33115fc44af0e078f3f">publish</a>(const boost::shared_ptr&lt; TopicType const &gt; &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a08abb836db076c390101880ff34b8fe8">PublisherHandler</a>(const PublisherHandler &amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a334376e25e8fb011ca27736cd2cf12b7">PublisherHandler</a>(ros::NodeHandle &amp;nh, const std::string &amp;address, const unsigned int &amp;buffer_size=1, const bool &amp;latch=false, const double &amp;rate=0)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">~PublisherHandler</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1PublisherHandler.html b/classmrs__lib_1_1PublisherHandler.html
new file mode 100644
index 00000000..eab01af2
--- /dev/null
+++ b/classmrs__lib_1_1PublisherHandler.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::PublisherHandler&lt; TopicType &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1PublisherHandler-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::PublisherHandler&lt; TopicType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>user wrapper of the publisher handler implementation  
+ <a href="classmrs__lib_1_1PublisherHandler.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="publisher__handler_8h_source.html">publisher_handler.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aefafd64bd0d8a9b9717c94b76368fd0d"><td class="memItemLeft" align="right" valign="top"><a id="aefafd64bd0d8a9b9717c94b76368fd0d"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler</a> (void)</td></tr>
+<tr class="memdesc:aefafd64bd0d8a9b9717c94b76368fd0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">generic constructor <br /></td></tr>
+<tr class="separator:aefafd64bd0d8a9b9717c94b76368fd0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9acaa1ef56768636f2163c75dd9e307e"><td class="memItemLeft" align="right" valign="top"><a id="a9acaa1ef56768636f2163c75dd9e307e"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">~PublisherHandler</a> (void)</td></tr>
+<tr class="memdesc:a9acaa1ef56768636f2163c75dd9e307e"><td class="mdescLeft">&#160;</td><td class="mdescRight">generic destructor <br /></td></tr>
+<tr class="separator:a9acaa1ef56768636f2163c75dd9e307e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23a8578213fd78347ebaa259ee17c218"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">operator=</a> (const <a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a> &amp;other)</td></tr>
+<tr class="memdesc:a23a8578213fd78347ebaa259ee17c218"><td class="mdescLeft">&#160;</td><td class="mdescRight">operator=  <a href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">More...</a><br /></td></tr>
+<tr class="separator:a23a8578213fd78347ebaa259ee17c218"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08abb836db076c390101880ff34b8fe8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a08abb836db076c390101880ff34b8fe8">PublisherHandler</a> (const <a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a> &amp;other)</td></tr>
+<tr class="memdesc:a08abb836db076c390101880ff34b8fe8"><td class="mdescLeft">&#160;</td><td class="mdescRight">copy constructor  <a href="classmrs__lib_1_1PublisherHandler.html#a08abb836db076c390101880ff34b8fe8">More...</a><br /></td></tr>
+<tr class="separator:a08abb836db076c390101880ff34b8fe8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a334376e25e8fb011ca27736cd2cf12b7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a334376e25e8fb011ca27736cd2cf12b7">PublisherHandler</a> (ros::NodeHandle &amp;nh, const std::string &amp;address, const unsigned int &amp;buffer_size=1, const bool &amp;latch=false, const double &amp;rate=0)</td></tr>
+<tr class="memdesc:a334376e25e8fb011ca27736cd2cf12b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor  <a href="classmrs__lib_1_1PublisherHandler.html#a334376e25e8fb011ca27736cd2cf12b7">More...</a><br /></td></tr>
+<tr class="separator:a334376e25e8fb011ca27736cd2cf12b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0c5bebc2848b0547048edb1297833290"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">publish</a> (const TopicType &amp;msg)</td></tr>
+<tr class="memdesc:a0c5bebc2848b0547048edb1297833290"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish message  <a href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">More...</a><br /></td></tr>
+<tr class="separator:a0c5bebc2848b0547048edb1297833290"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3201fd4703f7e9cec24de7bc189356a5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#a3201fd4703f7e9cec24de7bc189356a5">publish</a> (const boost::shared_ptr&lt; TopicType &gt; &amp;msg)</td></tr>
+<tr class="memdesc:a3201fd4703f7e9cec24de7bc189356a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish message, boost ptr overload  <a href="classmrs__lib_1_1PublisherHandler.html#a3201fd4703f7e9cec24de7bc189356a5">More...</a><br /></td></tr>
+<tr class="separator:a3201fd4703f7e9cec24de7bc189356a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace9906a5cf9ae33115fc44af0e078f3f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#ace9906a5cf9ae33115fc44af0e078f3f">publish</a> (const boost::shared_ptr&lt; TopicType const &gt; &amp;msg)</td></tr>
+<tr class="memdesc:ace9906a5cf9ae33115fc44af0e078f3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish message, boost const ptr overload  <a href="classmrs__lib_1_1PublisherHandler.html#ace9906a5cf9ae33115fc44af0e078f3f">More...</a><br /></td></tr>
+<tr class="separator:ace9906a5cf9ae33115fc44af0e078f3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acae5a82536022514c6a2cefa2f7980b1"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">getNumSubscribers</a> (void)</td></tr>
+<tr class="memdesc:acae5a82536022514c6a2cefa2f7980b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get number of subscribers  <a href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">More...</a><br /></td></tr>
+<tr class="separator:acae5a82536022514c6a2cefa2f7980b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class TopicType&gt;<br />
+class mrs_lib::PublisherHandler&lt; TopicType &gt;</h3>
+
+<p>user wrapper of the publisher handler implementation </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a08abb836db076c390101880ff34b8fe8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08abb836db076c390101880ff34b8fe8">&#9670;&nbsp;</a></span>PublisherHandler() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::<a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a>&lt; TopicType &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>copy constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a334376e25e8fb011ca27736cd2cf12b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a334376e25e8fb011ca27736cd2cf12b7">&#9670;&nbsp;</a></span>PublisherHandler() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::<a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>address</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned int &amp;&#160;</td>
+          <td class="paramname"><em>buffer_size</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;&#160;</td>
+          <td class="paramname"><em>latch</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>rate</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handler </td></tr>
+    <tr><td class="paramname">address</td><td>topic address </td></tr>
+    <tr><td class="paramname">buffer_size</td><td>buffer size </td></tr>
+    <tr><td class="paramname">latch</td><td>latching </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="acae5a82536022514c6a2cefa2f7980b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acae5a82536022514c6a2cefa2f7980b1">&#9670;&nbsp;</a></span>getNumSubscribers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">unsigned int <a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::getNumSubscribers </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get number of subscribers </p>
+<dl class="section return"><dt>Returns</dt><dd>the number of subscribers </dd></dl>
+
+</div>
+</div>
+<a id="a23a8578213fd78347ebaa259ee17c218"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23a8578213fd78347ebaa259ee17c218">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a>&lt; TopicType &gt; &amp; <a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a>&lt; TopicType &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>operator= </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd></dd></dl>
+
+</div>
+</div>
+<a id="a3201fd4703f7e9cec24de7bc189356a5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3201fd4703f7e9cec24de7bc189356a5">&#9670;&nbsp;</a></span>publish() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::publish </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; TopicType &gt; &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>publish message, boost ptr overload </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ace9906a5cf9ae33115fc44af0e078f3f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace9906a5cf9ae33115fc44af0e078f3f">&#9670;&nbsp;</a></span>publish() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::publish </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; TopicType const &gt; &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>publish message, boost const ptr overload </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0c5bebc2848b0547048edb1297833290"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c5bebc2848b0547048edb1297833290">&#9670;&nbsp;</a></span>publish() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a>&lt; TopicType &gt;::publish </td>
+          <td>(</td>
+          <td class="paramtype">const TopicType &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>publish message </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="publisher__handler_8h_source.html">publisher_handler.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="publisher__handler_8hpp_source.html">publisher_handler.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+var classmrs__lib_1_1PublisherHandler =
+[
+    [ "PublisherHandler", "classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d", null ],
+    [ "~PublisherHandler", "classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e", null ],
+    [ "PublisherHandler", "classmrs__lib_1_1PublisherHandler.html#a08abb836db076c390101880ff34b8fe8", null ],
+    [ "PublisherHandler", "classmrs__lib_1_1PublisherHandler.html#a334376e25e8fb011ca27736cd2cf12b7", null ],
+    [ "getNumSubscribers", "classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1", null ],
+    [ "operator=", "classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218", null ],
+    [ "publish", "classmrs__lib_1_1PublisherHandler.html#a3201fd4703f7e9cec24de7bc189356a5", null ],
+    [ "publish", "classmrs__lib_1_1PublisherHandler.html#ace9906a5cf9ae33115fc44af0e078f3f", null ],
+    [ "publish", "classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290", null ]
+];
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::PublisherHandler_impl&lt; TopicType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">getNumSubscribers</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">publish</a>(const TopicType &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34">publish</a>(const boost::shared_ptr&lt; TopicType &gt; &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a80c0caa745661936409fdc93277e7453">publish</a>(const boost::shared_ptr&lt; TopicType const &gt; &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">PublisherHandler_impl</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a9168a142f84bf96f73563fe5f3589ce7">PublisherHandler_impl</a>(ros::NodeHandle &amp;nh, const std::string &amp;address, const unsigned int &amp;buffer_size=1, const bool &amp;latch=false, const double &amp;rate=0.0)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">~PublisherHandler_impl</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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diff --git a/classmrs__lib_1_1PublisherHandler__impl.html b/classmrs__lib_1_1PublisherHandler__impl.html
new file mode 100644
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--- /dev/null
+++ b/classmrs__lib_1_1PublisherHandler__impl.html
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::PublisherHandler_impl&lt; TopicType &gt; Class Template Reference</title>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1PublisherHandler__impl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::PublisherHandler_impl&lt; TopicType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>implementation of the publisher handler  
+ <a href="classmrs__lib_1_1PublisherHandler__impl.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="publisher__handler_8h_source.html">publisher_handler.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab6dfde5a454ce357957a2ea8618890fc"><td class="memItemLeft" align="right" valign="top"><a id="ab6dfde5a454ce357957a2ea8618890fc"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">PublisherHandler_impl</a> (void)</td></tr>
+<tr class="memdesc:ab6dfde5a454ce357957a2ea8618890fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">default constructor <br /></td></tr>
+<tr class="separator:ab6dfde5a454ce357957a2ea8618890fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a685a159577dfe363423c58a91ba92ac6"><td class="memItemLeft" align="right" valign="top"><a id="a685a159577dfe363423c58a91ba92ac6"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">~PublisherHandler_impl</a> (void)</td></tr>
+<tr class="memdesc:a685a159577dfe363423c58a91ba92ac6"><td class="mdescLeft">&#160;</td><td class="mdescRight">default destructor <br /></td></tr>
+<tr class="separator:a685a159577dfe363423c58a91ba92ac6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9168a142f84bf96f73563fe5f3589ce7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a9168a142f84bf96f73563fe5f3589ce7">PublisherHandler_impl</a> (ros::NodeHandle &amp;nh, const std::string &amp;address, const unsigned int &amp;buffer_size=1, const bool &amp;latch=false, const double &amp;rate=0.0)</td></tr>
+<tr class="memdesc:a9168a142f84bf96f73563fe5f3589ce7"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor  <a href="classmrs__lib_1_1PublisherHandler__impl.html#a9168a142f84bf96f73563fe5f3589ce7">More...</a><br /></td></tr>
+<tr class="separator:a9168a142f84bf96f73563fe5f3589ce7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4404a3234f548fe9184ec43ac18c9671"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">publish</a> (const TopicType &amp;msg)</td></tr>
+<tr class="memdesc:a4404a3234f548fe9184ec43ac18c9671"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish message  <a href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">More...</a><br /></td></tr>
+<tr class="separator:a4404a3234f548fe9184ec43ac18c9671"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad41ed622292e537101a2dac779c08f34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34">publish</a> (const boost::shared_ptr&lt; TopicType &gt; &amp;msg)</td></tr>
+<tr class="memdesc:ad41ed622292e537101a2dac779c08f34"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish message, boost ptr overload  <a href="classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34">More...</a><br /></td></tr>
+<tr class="separator:ad41ed622292e537101a2dac779c08f34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80c0caa745661936409fdc93277e7453"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a80c0caa745661936409fdc93277e7453">publish</a> (const boost::shared_ptr&lt; TopicType const &gt; &amp;msg)</td></tr>
+<tr class="memdesc:a80c0caa745661936409fdc93277e7453"><td class="mdescLeft">&#160;</td><td class="mdescRight">publish message, boost const ptr overload  <a href="classmrs__lib_1_1PublisherHandler__impl.html#a80c0caa745661936409fdc93277e7453">More...</a><br /></td></tr>
+<tr class="separator:a80c0caa745661936409fdc93277e7453"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2043d0a61e0ff0dbd0acd6a64f1e4bef"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">getNumSubscribers</a> (void)</td></tr>
+<tr class="memdesc:a2043d0a61e0ff0dbd0acd6a64f1e4bef"><td class="mdescLeft">&#160;</td><td class="mdescRight">get number of subscribers  <a href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">More...</a><br /></td></tr>
+<tr class="separator:a2043d0a61e0ff0dbd0acd6a64f1e4bef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class TopicType&gt;<br />
+class mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</h3>
+
+<p>implementation of the publisher handler </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9168a142f84bf96f73563fe5f3589ce7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9168a142f84bf96f73563fe5f3589ce7">&#9670;&nbsp;</a></span>PublisherHandler_impl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl</a>&lt; TopicType &gt;::<a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">PublisherHandler_impl</a> </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>address</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned int &amp;&#160;</td>
+          <td class="paramname"><em>buffer_size</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;&#160;</td>
+          <td class="paramname"><em>latch</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>rate</em> = <code>0.0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handler </td></tr>
+    <tr><td class="paramname">address</td><td>topic address </td></tr>
+    <tr><td class="paramname">buffer_size</td><td>buffer size </td></tr>
+    <tr><td class="paramname">latch</td><td>latching </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2043d0a61e0ff0dbd0acd6a64f1e4bef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2043d0a61e0ff0dbd0acd6a64f1e4bef">&#9670;&nbsp;</a></span>getNumSubscribers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">unsigned int <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl</a>&lt; TopicType &gt;::getNumSubscribers </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get number of subscribers </p>
+<dl class="section return"><dt>Returns</dt><dd>the number of subscribers </dd></dl>
+
+</div>
+</div>
+<a id="ad41ed622292e537101a2dac779c08f34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad41ed622292e537101a2dac779c08f34">&#9670;&nbsp;</a></span>publish() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl</a>&lt; TopicType &gt;::publish </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; TopicType &gt; &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>publish message, boost ptr overload </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a80c0caa745661936409fdc93277e7453"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80c0caa745661936409fdc93277e7453">&#9670;&nbsp;</a></span>publish() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl</a>&lt; TopicType &gt;::publish </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; TopicType const &gt; &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>publish message, boost const ptr overload </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4404a3234f548fe9184ec43ac18c9671"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4404a3234f548fe9184ec43ac18c9671">&#9670;&nbsp;</a></span>publish() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class TopicType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl</a>&lt; TopicType &gt;::publish </td>
+          <td>(</td>
+          <td class="paramtype">const TopicType &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>publish message </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>data </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="publisher__handler_8h_source.html">publisher_handler.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="publisher__handler_8hpp_source.html">publisher_handler.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">PublisherHandler_impl</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1PublisherHandler__impl.js b/classmrs__lib_1_1PublisherHandler__impl.js
new file mode 100644
index 00000000..579f4d57
--- /dev/null
+++ b/classmrs__lib_1_1PublisherHandler__impl.js
@@ -0,0 +1,10 @@
+var classmrs__lib_1_1PublisherHandler__impl =
+[
+    [ "PublisherHandler_impl", "classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc", null ],
+    [ "~PublisherHandler_impl", "classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6", null ],
+    [ "PublisherHandler_impl", "classmrs__lib_1_1PublisherHandler__impl.html#a9168a142f84bf96f73563fe5f3589ce7", null ],
+    [ "getNumSubscribers", "classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef", null ],
+    [ "publish", "classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34", null ],
+    [ "publish", "classmrs__lib_1_1PublisherHandler__impl.html#a80c0caa745661936409fdc93277e7453", null ],
+    [ "publish", "classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671", null ]
+];
\ No newline at end of file
diff --git a/classmrs__lib_1_1RHEIV-members.html b/classmrs__lib_1_1RHEIV-members.html
new file mode 100644
index 00000000..7b2f1050
--- /dev/null
+++ b/classmrs__lib_1_1RHEIV-members.html
@@ -0,0 +1,130 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
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+  <div id="nav-tree">
+    <div id="nav-tree-contents">
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1RHEIV.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::RHEIV&lt; n_states, n_params &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">fit</a>(const xs_t &amp;xs, const Ps_t &amp;Ps)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">fit</a>(const T_it1 &amp;xs_begin, const T_it1 &amp;xs_end, const T_it2 &amp;Ps_begin, const T_it2 &amp;Ps_end)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">fit_ALS</a>(const xs_t &amp;xs)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">get_ALS_estimate</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">get_last_estimate</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a057ffc158ceb64e933d3ae73e96bb033">RHEIV</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">RHEIV</a>(const f_z_t &amp;f_z, const f_dzdx_t &amp;f_dzdx, const double min_dtheta=1e-15, const unsigned max_its=100)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a8c8f7b9c1b3ea4daafc08e1a29941558">RHEIV</a>(const f_z_t &amp;f_z, const f_dzdx_t &amp;f_dzdx, const double min_dtheta=1e-15, const unsigned max_its=100, const time_t &amp;timeout=std::chrono::duration_cast&lt; time_t &gt;(ms_t::zero()), const int debug_nth_it=-1)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">RHEIV</a>(const f_z_t &amp;f_z, const dzdx_t &amp;dzdx, const double min_dtheta=1e-15, const unsigned max_its=100)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a9c0c437bea8612516cb37d9503b6a852">RHEIV</a>(const f_z_t &amp;f_z, const dzdx_t &amp;dzdx, const double min_dtheta=1e-15, const unsigned max_its=100, const time_t &amp;timeout=std::chrono::duration_cast&lt; time_t &gt;(ms_t::zero()), const int debug_nth_it=-1)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1RHEIV.html b/classmrs__lib_1_1RHEIV.html
new file mode 100644
index 00000000..4bc2a114
--- /dev/null
+++ b/classmrs__lib_1_1RHEIV.html
@@ -0,0 +1,773 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::RHEIV&lt; n_states, n_params &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1RHEIV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::RHEIV&lt; n_states, n_params &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a>.  
+ <a href="classmrs__lib_1_1RHEIV.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="rheiv_8h_source.html">rheiv.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a6482f5ff13cbfaef9f8dc86912c1258d"><td class="memItemLeft" align="right" valign="top"><a id="a6482f5ff13cbfaef9f8dc86912c1258d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">x_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a>, 1 &gt;</td></tr>
+<tr class="memdesc:a6482f5ff13cbfaef9f8dc86912c1258d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$k \times 1$" src="form_44.png"/>. <br /></td></tr>
+<tr class="separator:a6482f5ff13cbfaef9f8dc86912c1258d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee3df85ac46e5b29259f8898388324ec"><td class="memItemLeft" align="right" valign="top"><a id="aee3df85ac46e5b29259f8898388324ec"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a>, -1 &gt;</td></tr>
+<tr class="memdesc:aee3df85ac46e5b29259f8898388324ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Container type for the input data array. <br /></td></tr>
+<tr class="separator:aee3df85ac46e5b29259f8898388324ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3bc18fd815c8f09123b0a9083ca3b959"><td class="memItemLeft" align="right" valign="top"><a id="a3bc18fd815c8f09123b0a9083ca3b959"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">u_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a>, 1 &gt;</td></tr>
+<tr class="memdesc:a3bc18fd815c8f09123b0a9083ca3b959"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transformed input vector type <img class="formulaInl" alt="$l \times 1$" src="form_45.png"/>. <br /></td></tr>
+<tr class="separator:a3bc18fd815c8f09123b0a9083ca3b959"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9adfedc8dfbe38ccf06f556481a6c5c9"><td class="memItemLeft" align="right" valign="top"><a id="a9adfedc8dfbe38ccf06f556481a6c5c9"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">P_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a>, <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a> &gt;</td></tr>
+<tr class="memdesc:a9adfedc8dfbe38ccf06f556481a6c5c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance type of the input vector <img class="formulaInl" alt="$k \times k$" src="form_46.png"/>. <br /></td></tr>
+<tr class="separator:a9adfedc8dfbe38ccf06f556481a6c5c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab24b461160051b3537f76e633d47d8d"><td class="memItemLeft" align="right" valign="top"><a id="aab24b461160051b3537f76e633d47d8d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> = std::vector&lt; <a class="el" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">P_t</a> &gt;</td></tr>
+<tr class="memdesc:aab24b461160051b3537f76e633d47d8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Container type for covariances <code>P</code> of the input data array. <br /></td></tr>
+<tr class="separator:aab24b461160051b3537f76e633d47d8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8e01ed1580572ec20f0230d9bfe5273f"><td class="memItemLeft" align="right" valign="top"><a id="a8e01ed1580572ec20f0230d9bfe5273f"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">z_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a>, 1 &gt;</td></tr>
+<tr class="memdesc:a8e01ed1580572ec20f0230d9bfe5273f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of a reduced transformed input vector <img class="formulaInl" alt="$l_r \times 1$" src="form_47.png"/>. <br /></td></tr>
+<tr class="separator:a8e01ed1580572ec20f0230d9bfe5273f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b4e40932aae907ae8185df7703d5677"><td class="memItemLeft" align="right" valign="top"><a id="a3b4e40932aae907ae8185df7703d5677"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a>, -1 &gt;</td></tr>
+<tr class="memdesc:a3b4e40932aae907ae8185df7703d5677"><td class="mdescLeft">&#160;</td><td class="mdescRight">Container type for an array of the reduced transformed input vectors <code>z</code>. <br /></td></tr>
+<tr class="separator:a3b4e40932aae907ae8185df7703d5677"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abfea65ce9c912fcde3e805a66dc8ca42"><td class="memItemLeft" align="right" valign="top"><a id="abfea65ce9c912fcde3e805a66dc8ca42"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> = typename std::function&lt; <a class="el" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>(const <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> &amp;)&gt;</td></tr>
+<tr class="memdesc:abfea65ce9c912fcde3e805a66dc8ca42"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function signature of the <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> mapping function. <br /></td></tr>
+<tr class="separator:abfea65ce9c912fcde3e805a66dc8ca42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abec4cb102b681ff3ec39786dc1d2bd4b"><td class="memItemLeft" align="right" valign="top"><a id="abec4cb102b681ff3ec39786dc1d2bd4b"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a>, <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a> &gt;</td></tr>
+<tr class="memdesc:abec4cb102b681ff3ec39786dc1d2bd4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of the jacobian matrix <img class="formulaInl" alt="$ \mathbf{J} \mathbf{z}\left( \mathbf{x} \right) $" src="form_48.png"/>, evaluated at <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. <br /></td></tr>
+<tr class="separator:abec4cb102b681ff3ec39786dc1d2bd4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad85f14fb415e2fbe69ad05db0dc56e7b"><td class="memItemLeft" align="right" valign="top"><a id="ad85f14fb415e2fbe69ad05db0dc56e7b"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a> = std::vector&lt; <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> &gt;</td></tr>
+<tr class="memdesc:ad85f14fb415e2fbe69ad05db0dc56e7b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Contained type for an array of the jacobian matrices. <br /></td></tr>
+<tr class="separator:ad85f14fb415e2fbe69ad05db0dc56e7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac5b425f7782114173db5a275bea2c871"><td class="memItemLeft" align="right" valign="top"><a id="ac5b425f7782114173db5a275bea2c871"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> = typename std::function&lt; <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a>(const <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> &amp;)&gt;</td></tr>
+<tr class="memdesc:ac5b425f7782114173db5a275bea2c871"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function signature of the jacobian <img class="formulaInl" alt="$ \mathbf{J} \mathbf{z}\left( \mathbf{x} \right) $" src="form_48.png"/>. <br /></td></tr>
+<tr class="separator:ac5b425f7782114173db5a275bea2c871"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6d8212b941ad45ce6b53bc4e8449de1"><td class="memItemLeft" align="right" valign="top"><a id="af6d8212b941ad45ce6b53bc4e8449de1"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> = Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a>, 1 &gt;</td></tr>
+<tr class="memdesc:af6d8212b941ad45ce6b53bc4e8449de1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameter vector type <img class="formulaInl" alt="$l \times 1$" src="form_45.png"/>. <br /></td></tr>
+<tr class="separator:af6d8212b941ad45ce6b53bc4e8449de1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a238b7a1a44cb7711756bd7b94a11797d"><td class="memItemLeft" align="right" valign="top"><a id="a238b7a1a44cb7711756bd7b94a11797d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> = <a class="el" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">z_t</a></td></tr>
+<tr class="memdesc:a238b7a1a44cb7711756bd7b94a11797d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reduced parameter vector type <img class="formulaInl" alt="$l_r \times 1$" src="form_47.png"/>. <br /></td></tr>
+<tr class="separator:a238b7a1a44cb7711756bd7b94a11797d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a057ffc158ceb64e933d3ae73e96bb033"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a057ffc158ceb64e933d3ae73e96bb033">RHEIV</a> ()</td></tr>
+<tr class="memdesc:a057ffc158ceb64e933d3ae73e96bb033"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1RHEIV.html#a057ffc158ceb64e933d3ae73e96bb033">More...</a><br /></td></tr>
+<tr class="separator:a057ffc158ceb64e933d3ae73e96bb033"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4712a3306cdd759a73d2124b23bb388b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">RHEIV</a> (const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;f_z, const <a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> &amp;f_dzdx, const double min_dtheta=1e-15, const unsigned max_its=100)</td></tr>
+<tr class="memdesc:a4712a3306cdd759a73d2124b23bb388b"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">More...</a><br /></td></tr>
+<tr class="separator:a4712a3306cdd759a73d2124b23bb388b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c8f7b9c1b3ea4daafc08e1a29941558"><td class="memTemplParams" colspan="2">template&lt;typename time_t &gt; </td></tr>
+<tr class="memitem:a8c8f7b9c1b3ea4daafc08e1a29941558"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a8c8f7b9c1b3ea4daafc08e1a29941558">RHEIV</a> (const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;f_z, const <a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> &amp;f_dzdx, const double min_dtheta=1e-15, const unsigned max_its=100, const time_t &amp;timeout=std::chrono::duration_cast&lt; time_t &gt;(ms_t::zero()), const int debug_nth_it=-1)</td></tr>
+<tr class="memdesc:a8c8f7b9c1b3ea4daafc08e1a29941558"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1RHEIV.html#a8c8f7b9c1b3ea4daafc08e1a29941558">More...</a><br /></td></tr>
+<tr class="separator:a8c8f7b9c1b3ea4daafc08e1a29941558"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66a840487d929607a3385e90b3c35ec5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">RHEIV</a> (const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;f_z, const <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> &amp;dzdx, const double min_dtheta=1e-15, const unsigned max_its=100)</td></tr>
+<tr class="memdesc:a66a840487d929607a3385e90b3c35ec5"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience constructor constructor.  <a href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">More...</a><br /></td></tr>
+<tr class="separator:a66a840487d929607a3385e90b3c35ec5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c0c437bea8612516cb37d9503b6a852"><td class="memTemplParams" colspan="2">template&lt;typename time_t &gt; </td></tr>
+<tr class="memitem:a9c0c437bea8612516cb37d9503b6a852"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a9c0c437bea8612516cb37d9503b6a852">RHEIV</a> (const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;f_z, const <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> &amp;dzdx, const double min_dtheta=1e-15, const unsigned max_its=100, const time_t &amp;timeout=std::chrono::duration_cast&lt; time_t &gt;(ms_t::zero()), const int debug_nth_it=-1)</td></tr>
+<tr class="memdesc:a9c0c437bea8612516cb37d9503b6a852"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience constructor constructor.  <a href="classmrs__lib_1_1RHEIV.html#a9c0c437bea8612516cb37d9503b6a852">More...</a><br /></td></tr>
+<tr class="separator:a9c0c437bea8612516cb37d9503b6a852"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad00da516e55bb60661b5cf234487932"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">fit</a> (const <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> &amp;xs, const <a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> &amp;Ps)</td></tr>
+<tr class="memdesc:aad00da516e55bb60661b5cf234487932"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fit the defined model to the provided data.  <a href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">More...</a><br /></td></tr>
+<tr class="separator:aad00da516e55bb60661b5cf234487932"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9eaa3b7a946a9c590326d3b47295d728"><td class="memTemplParams" colspan="2">template&lt;class T_it1 , class T_it2 &gt; </td></tr>
+<tr class="memitem:a9eaa3b7a946a9c590326d3b47295d728"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">fit</a> (const T_it1 &amp;xs_begin, const T_it1 &amp;xs_end, const T_it2 &amp;Ps_begin, const T_it2 &amp;Ps_end)</td></tr>
+<tr class="memdesc:a9eaa3b7a946a9c590326d3b47295d728"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fit the defined model to the provided data.  <a href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">More...</a><br /></td></tr>
+<tr class="separator:a9eaa3b7a946a9c590326d3b47295d728"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2123ee2ffa07063a8a50275b998874ca"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">fit_ALS</a> (const <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> &amp;xs)</td></tr>
+<tr class="memdesc:a2123ee2ffa07063a8a50275b998874ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fit the defined model to the provided data using Algebraic Least Squares (not <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a>).  <a href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">More...</a><br /></td></tr>
+<tr class="separator:a2123ee2ffa07063a8a50275b998874ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac7f24b984bcfdee4f21de1206942f986"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">get_last_estimate</a> () const</td></tr>
+<tr class="memdesc:ac7f24b984bcfdee4f21de1206942f986"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the last valid estimate of <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>.  <a href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">More...</a><br /></td></tr>
+<tr class="separator:ac7f24b984bcfdee4f21de1206942f986"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96de075c76bf79a411606d762e4b9728"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">get_ALS_estimate</a> () const</td></tr>
+<tr class="memdesc:a96de075c76bf79a411606d762e4b9728"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the Algebraic Least Squares estimate of <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>.  <a href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">More...</a><br /></td></tr>
+<tr class="separator:a96de075c76bf79a411606d762e4b9728"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a8d5b4a0df9a65eaf7127a6d93b38bf5e"><td class="memItemLeft" align="right" valign="top"><a id="a8d5b4a0df9a65eaf7127a6d93b38bf5e"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a> = n_states</td></tr>
+<tr class="memdesc:a8d5b4a0df9a65eaf7127a6d93b38bf5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector <code>x</code>. <br /></td></tr>
+<tr class="separator:a8d5b4a0df9a65eaf7127a6d93b38bf5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1495045a8f4fca1f045da6866f5e62b0"><td class="memItemLeft" align="right" valign="top"><a id="a1495045a8f4fca1f045da6866f5e62b0"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a> = n_params</td></tr>
+<tr class="memdesc:a1495045a8f4fca1f045da6866f5e62b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the parameter vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>. <br /></td></tr>
+<tr class="separator:a1495045a8f4fca1f045da6866f5e62b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af267a00d1631e4685e5a1451f2510ac0"><td class="memItemLeft" align="right" valign="top"><a id="af267a00d1631e4685e5a1451f2510ac0"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a> = <a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a> - 1</td></tr>
+<tr class="memdesc:af267a00d1631e4685e5a1451f2510ac0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the reduced parameter vector <img class="formulaInl" alt="$ \mathbf{\eta} $" src="form_43.png"/>. <br /></td></tr>
+<tr class="separator:af267a00d1631e4685e5a1451f2510ac0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_params&gt;<br />
+class mrs_lib::RHEIV&lt; n_states, n_params &gt;</h3>
+
+<p>Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a>. </p>
+<p>This class estimates a vector of parameters <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/> of a model, which is defined by an equation <img class="formulaInl" alt="$ \mathbf{\theta}^T \mathbf{u}\left( \mathbf{x} \right) = 0 $" src="form_37.png"/>, where <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> is a data sample vector and <img class="formulaInl" alt="$ \mathbf{u}\left( \mathbf{x} \right) $" src="form_38.png"/> is a vector, obtained by transforming <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> in a problem-dependent manner.</p>
+<p>Note that <img class="formulaInl" alt="$ \mathbf{u}\left( \mathbf{x} \right) $" src="form_38.png"/> must fulfill two conditions:</p><ul>
+<li>each element of <img class="formulaInl" alt="$ \mathbf{u}\left( \mathbf{x} \right) $" src="form_38.png"/> is a quadratic form of a vector <img class="formulaInl" alt="$ \left[ \mathbf{x}, 1 \right] $" src="form_39.png"/>, and</li>
+<li>the last element of <img class="formulaInl" alt="$ \mathbf{u}\left( \mathbf{x} \right) $" src="form_38.png"/> is equal to one.</li>
+</ul>
+<p>Such model can be used to describe e.g. various surfaces, such as planes or conics, which makes this class a useful tool for computer vision. The model is described in the context of the <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> class by the length of the vector <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>, the length of the vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>, and the Jacobian matrix of <img class="formulaInl" alt="$ \partial_{\mathbf{x}} \mathbf{z}\left( \mathbf{x} \right) $" src="form_40.png"/>, where <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> is defined by the formula <img class="formulaInl" alt="$ \mathbf{u}\left( \mathbf{x} \right) = \left[ \mathbf{z}\left( \mathbf{x} \right), 1 \right] $" src="form_42.png"/>.</p>
+<p>For more information, see <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a>. </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="rheiv_2example_8cpp-example.html#_a7">rheiv/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a057ffc158ceb64e933d3ae73e96bb033"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a057ffc158ceb64e933d3ae73e96bb033">&#9670;&nbsp;</a></span>RHEIV() <span class="overload">[1/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::<a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience default constructor. </p>
+<dl class="section warning"><dt>Warning</dt><dd>This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, before using this class, otherwise the <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> object is invalid (not initialized). </dd></dl>
+
+</div>
+</div>
+<a id="a4712a3306cdd759a73d2124b23bb388b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4712a3306cdd759a73d2124b23bb388b">&#9670;&nbsp;</a></span>RHEIV() <span class="overload">[2/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::<a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>f_z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>f_dzdx</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>min_dtheta</em> = <code>1e-15</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>max_its</em> = <code>100</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<p>The <code>dzdx</code> parameter gives the relation between <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> and <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. It is the full jacobian matrix <img class="formulaInl" alt="$ \partial_{\mathbf{x}} \mathbf{z}\left( \mathbf{x} \right) $" src="form_40.png"/>.</p>
+<p>The optimization algorithm is iterative with two possible stopping conditions:</p><ul>
+<li>if change of the estimate of <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/> between two iterations is smaller than a defined threshold, or</li>
+<li>if a maximal number of iterations was reached.</li>
+</ul>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">f_z</td><td>the mapping function <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/>. </td></tr>
+    <tr><td class="paramname">f_dzdx</td><td>a function, returning the jacobian matrix of partial derivations of <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> by <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>, evaluated at <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. </td></tr>
+    <tr><td class="paramname">min_dtheta</td><td>if the difference of <img class="formulaInl" alt="$ \mathbf{\theta}_{k} $" src="form_54.png"/> and <img class="formulaInl" alt="$ \mathbf{\theta}_{k-1} $" src="form_55.png"/> is smaller than this number, the iteration is stopped. </td></tr>
+    <tr><td class="paramname">max_its</td><td>if the iteration is stopped after this number of iterations. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8c8f7b9c1b3ea4daafc08e1a29941558"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8c8f7b9c1b3ea4daafc08e1a29941558">&#9670;&nbsp;</a></span>RHEIV() <span class="overload">[3/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<div class="memtemplate">
+template&lt;typename time_t &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::<a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>f_z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>f_dzdx</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>min_dtheta</em> = <code>1e-15</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>max_its</em> = <code>100</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const time_t &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>std::chrono::duration_cast&lt;time_t&gt;(ms_t::zero())</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int&#160;</td>
+          <td class="paramname"><em>debug_nth_it</em> = <code>-1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<p>The <code>dzdx</code> parameter gives the relation between <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> and <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. It is the full jacobian matrix <img class="formulaInl" alt="$ \partial_{\mathbf{x}} \mathbf{z}\left( \mathbf{x} \right) $" src="form_40.png"/>.</p>
+<p>The optimization algorithm is iterative with two possible stopping conditions:</p><ul>
+<li>if change of the estimate of <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/> between two iterations is smaller than a defined threshold, or</li>
+<li>if a maximal number of iterations was reached.</li>
+</ul>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">f_z</td><td>the mapping function <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/>. </td></tr>
+    <tr><td class="paramname">f_dzdx</td><td>a function, returning the jacobian matrix of partial derivations of <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> by <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>, evaluated at <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. </td></tr>
+    <tr><td class="paramname">min_dtheta</td><td>if the difference of <img class="formulaInl" alt="$ \mathbf{\theta}_{k} $" src="form_54.png"/> and <img class="formulaInl" alt="$ \mathbf{\theta}_{k-1} $" src="form_55.png"/> is smaller than this number, the iteration is stopped. </td></tr>
+    <tr><td class="paramname">max_its</td><td>if the iteration is stopped after this number of iterations. </td></tr>
+    <tr><td class="paramname">timeout</td><td>if the calculation takes longer than this time, the iteration is stopped. </td></tr>
+    <tr><td class="paramname">debug_nth_it</td><td>a debug message will be printed every <code>debug_nth_it</code> th iteration (negative number disables debug). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a66a840487d929607a3385e90b3c35ec5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66a840487d929607a3385e90b3c35ec5">&#9670;&nbsp;</a></span>RHEIV() <span class="overload">[4/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::<a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>f_z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>dzdx</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>min_dtheta</em> = <code>1e-15</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>max_its</em> = <code>100</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience constructor constructor. </p>
+<p>This constructor differs from the main one only in the parameters it takes. Instead of the function f_dzdx, it takes directly the dzdx matrix. This variant is meant to be used for systems where the jacobian matrix <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> by <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> does not depend on <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">f_z</td><td>the mapping function <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/>. </td></tr>
+    <tr><td class="paramname">dzdx</td><td>the jacobian matrix of partial derivations of <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> by <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. </td></tr>
+    <tr><td class="paramname">min_dtheta</td><td>if the difference of <img class="formulaInl" alt="$ \mathbf{\theta}_{k} $" src="form_54.png"/> and <img class="formulaInl" alt="$ \mathbf{\theta}_{k-1} $" src="form_55.png"/> is smaller than this number, the iteration is stopped. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a9c0c437bea8612516cb37d9503b6a852"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c0c437bea8612516cb37d9503b6a852">&#9670;&nbsp;</a></span>RHEIV() <span class="overload">[5/5]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<div class="memtemplate">
+template&lt;typename time_t &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::<a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>f_z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>dzdx</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>min_dtheta</em> = <code>1e-15</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>max_its</em> = <code>100</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const time_t &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>std::chrono::duration_cast&lt;time_t&gt;(ms_t::zero())</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int&#160;</td>
+          <td class="paramname"><em>debug_nth_it</em> = <code>-1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience constructor constructor. </p>
+<p>This constructor differs from the main one only in the parameters it takes. Instead of the function f_dzdx, it takes directly the dzdx matrix. This variant is meant to be used for systems where the jacobian matrix <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> by <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> does not depend on <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">f_z</td><td>the mapping function <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/>. </td></tr>
+    <tr><td class="paramname">dzdx</td><td>the jacobian matrix of partial derivations of <img class="formulaInl" alt="$ \mathbf{z}\left( \mathbf{x} \right) $" src="form_41.png"/> by <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/>. </td></tr>
+    <tr><td class="paramname">min_dtheta</td><td>if the difference of <img class="formulaInl" alt="$ \mathbf{\theta}_{k} $" src="form_54.png"/> and <img class="formulaInl" alt="$ \mathbf{\theta}_{k-1} $" src="form_55.png"/> is smaller than this number, the iteration is stopped. </td></tr>
+    <tr><td class="paramname">timeout</td><td>if the calculation takes longer than this time, the iteration is stopped. </td></tr>
+    <tr><td class="paramname">max_its</td><td>if the iteration is stopped after this number of iterations. </td></tr>
+    <tr><td class="paramname">debug_nth_it</td><td>a debug message will be printed every <code>debug_nth_it</code> th iteration (negative number disables debug). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9eaa3b7a946a9c590326d3b47295d728"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9eaa3b7a946a9c590326d3b47295d728">&#9670;&nbsp;</a></span>fit() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<div class="memtemplate">
+template&lt;class T_it1 , class T_it2 &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::fit </td>
+          <td>(</td>
+          <td class="paramtype">const T_it1 &amp;&#160;</td>
+          <td class="paramname"><em>xs_begin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T_it1 &amp;&#160;</td>
+          <td class="paramname"><em>xs_end</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T_it2 &amp;&#160;</td>
+          <td class="paramname"><em>Ps_begin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T_it2 &amp;&#160;</td>
+          <td class="paramname"><em>Ps_end</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Fit the defined model to the provided data. </p>
+<p>The <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> iterative optimization algorithm will be applied to estimate optimal parameters of the model based on the provided data. This is a conveinence overload, which takes the data points and covariances in a general container, supporting std::begin() and std::end().</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xs_begin</td><td>begin iterator of a container, containing the data points <img class="formulaInl" alt="$ \mathbf{x}_i $" src="form_56.png"/>. </td></tr>
+    <tr><td class="paramname">xs_end</td><td>end iterator of a container, containing the data points <img class="formulaInl" alt="$ \mathbf{x}_i $" src="form_56.png"/>. </td></tr>
+    <tr><td class="paramname">Ps_begin</td><td>begin iterator of a container, containing the corresponding covariance matrices <img class="formulaInl" alt="$ \mathbf{P}_i $" src="form_57.png"/> . </td></tr>
+    <tr><td class="paramname">Ps_end</td><td>end iterator of a container, containing the corresponding covariance matrices <img class="formulaInl" alt="$ \mathbf{P}_i $" src="form_57.png"/> .</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>estimate of the parameter vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>Note that length of <code>xs</code> and <code>Ps</code> must be the same! </dd></dl>
+
+</div>
+</div>
+<a id="aad00da516e55bb60661b5cf234487932"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad00da516e55bb60661b5cf234487932">&#9670;&nbsp;</a></span>fit() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::fit </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>xs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Ps</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Fit the defined model to the provided data. </p>
+<p>The <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> iterative optimization algorithm will be applied to estimate optimal parameters of the model based on the provided data.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xs</td><td>the data points <img class="formulaInl" alt="$ \mathbf{x}_i $" src="form_56.png"/>. </td></tr>
+    <tr><td class="paramname">Ps</td><td>the corresponding covariance matrices <img class="formulaInl" alt="$ \mathbf{P}_i $" src="form_57.png"/> .</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>estimate of the parameter vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>Note that length of <code>xs</code> and <code>Ps</code> must be the same! </dd></dl>
+
+</div>
+</div>
+<a id="a2123ee2ffa07063a8a50275b998874ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2123ee2ffa07063a8a50275b998874ca">&#9670;&nbsp;</a></span>fit_ALS()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::fit_ALS </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>xs</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Fit the defined model to the provided data using Algebraic Least Squares (not <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a>). </p>
+<p>Instead of using the iterative <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> algorithm to fit the data, just use the simple ALS (which basically does eigenvector decomposition). This can be useful in cases of degenerate data where the <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> algorithm fails or when covariances of the data are not available.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">xs</td><td>the data points <img class="formulaInl" alt="$ \mathbf{x}_i $" src="form_56.png"/>.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>estimate of the parameter vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>. </dd></dl>
+
+</div>
+</div>
+<a id="a96de075c76bf79a411606d762e4b9728"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96de075c76bf79a411606d762e4b9728">&#9670;&nbsp;</a></span>get_ALS_estimate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::get_ALS_estimate </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the Algebraic Least Squares estimate of <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>. </p>
+<p>You can use this method in case of an exception to retreive the Algebraic Least Squares estimate of the parameter vector, which is more stable than the <a class="el" href="classmrs__lib_1_1RHEIV.html" title="Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .">RHEIV</a> algorithm, and can be used as a more rough estimate of the parameters.</p>
+<dl class="section return"><dt>Returns</dt><dd>the ALS estimate of the parameter vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>The <a class="el" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932" title="Fit the defined model to the provided data.">fit()</a> method must be called prior to attempting to get the last ALS estimate! </dd></dl>
+
+</div>
+</div>
+<a id="ac7f24b984bcfdee4f21de1206942f986"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7f24b984bcfdee4f21de1206942f986">&#9670;&nbsp;</a></span>get_last_estimate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_params&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a>&lt; n_states, n_params &gt;::get_last_estimate </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the last valid estimate of <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>. </p>
+<p>You can use this method in case of an exception to retreive the last valid estimate of the parameter vector before the crash, which is sometimes useful.</p>
+<dl class="section return"><dt>Returns</dt><dd>the last valid estimate of the parameter vector <img class="formulaInl" alt="$ \mathbf{\theta} $" src="form_36.png"/>.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>The <a class="el" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932" title="Fit the defined model to the provided data.">fit()</a> method must be called prior to attempting to get the last valid estimate! </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="rheiv_8h_source.html">rheiv.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1RHEIV.js b/classmrs__lib_1_1RHEIV.js
new file mode 100644
index 00000000..baf07f6b
--- /dev/null
+++ b/classmrs__lib_1_1RHEIV.js
@@ -0,0 +1,26 @@
+var classmrs__lib_1_1RHEIV =
+[
+    [ "dzdx_t", "classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b", null ],
+    [ "dzdxs_t", "classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b", null ],
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
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+<div id="doc-content">
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+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::ROSTimer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>MRSTimer</b>(const MRSTimer &amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>MRSTimer</b>(MRSTimer &amp;&amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>MRSTimer</b>()=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const ROSTimer &amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(ROSTimer &amp;&amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const MRSTimer &amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(MRSTimer &amp;&amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ROSTimer</b>() (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html#aaf683893d28eca7f91e4b2333cf4eed5">ROSTimer</a>(const ros::NodeHandle &amp;nh, const ros::Rate &amp;rate, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html#ad4913fe0402a8be9b131ad5afb9d7d05">ROSTimer</a>(const ros::NodeHandle &amp;nh, const ros::Duration &amp;duration, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ROSTimer</b>(const ROSTimer &amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ROSTimer</b>(ROSTimer &amp;&amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ROSTimer</b>(const ros::NodeHandle &amp;nh, const ros::Duration &amp;duration, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot, const bool autostart) (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ROSTimer</b>(const ros::NodeHandle &amp;nh, const ros::Rate &amp;rate, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot, const bool autostart) (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">running</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">setPeriod</a>(const ros::Duration &amp;duration, const bool reset=true) override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html#afd70b40e8e4b84b48215eeafc5e27520">start</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">stop</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~MRSTimer</b>()=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~ROSTimer</b>() override (defined in <a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1ROSTimer.html b/classmrs__lib_1_1ROSTimer.html
new file mode 100644
index 00000000..c62dd161
--- /dev/null
+++ b/classmrs__lib_1_1ROSTimer.html
@@ -0,0 +1,430 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: mrs_lib::ROSTimer Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1ROSTimer.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ROSTimer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ROSTimer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method.  
+ <a href="classmrs__lib_1_1ROSTimer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="timer_8h_source.html">timer.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::ROSTimer:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1ROSTimer__inherit__graph.png" border="0" usemap="#mrs__lib_1_1ROSTimer_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1ROSTimer_inherit__map" id="mrs__lib_1_1ROSTimer_inherit__map">
+<area shape="rect" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho..." alt="" coords="7,80,149,107"/>
+<area shape="rect" href="classmrs__lib_1_1MRSTimer.html" title="Common wrapper representing the functionality of the ros::Timer." alt="" coords="5,5,151,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::ROSTimer:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1ROSTimer__coll__graph.png" border="0" usemap="#mrs__lib_1_1ROSTimer_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1ROSTimer_coll__map" id="mrs__lib_1_1ROSTimer_coll__map">
+<area shape="rect" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho..." alt="" coords="7,80,149,107"/>
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+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aaf683893d28eca7f91e4b2333cf4eed5"><td class="memTemplParams" colspan="2">template&lt;class ObjectType &gt; </td></tr>
+<tr class="memitem:aaf683893d28eca7f91e4b2333cf4eed5"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html#aaf683893d28eca7f91e4b2333cf4eed5">ROSTimer</a> (const ros::NodeHandle &amp;nh, const ros::Rate &amp;rate, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)</td></tr>
+<tr class="memdesc:aaf683893d28eca7f91e4b2333cf4eed5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the object.  <a href="classmrs__lib_1_1ROSTimer.html#aaf683893d28eca7f91e4b2333cf4eed5">More...</a><br /></td></tr>
+<tr class="separator:aaf683893d28eca7f91e4b2333cf4eed5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4913fe0402a8be9b131ad5afb9d7d05"><td class="memTemplParams" colspan="2">template&lt;class ObjectType &gt; </td></tr>
+<tr class="memitem:ad4913fe0402a8be9b131ad5afb9d7d05"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html#ad4913fe0402a8be9b131ad5afb9d7d05">ROSTimer</a> (const ros::NodeHandle &amp;nh, const ros::Duration &amp;duration, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)</td></tr>
+<tr class="memdesc:ad4913fe0402a8be9b131ad5afb9d7d05"><td class="mdescLeft">&#160;</td><td class="mdescRight">full constructor  <a href="classmrs__lib_1_1ROSTimer.html#ad4913fe0402a8be9b131ad5afb9d7d05">More...</a><br /></td></tr>
+<tr class="separator:ad4913fe0402a8be9b131ad5afb9d7d05"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a774123e3400848884fa83fe01e1955"><td class="memItemLeft" align="right" valign="top"><a id="a6a774123e3400848884fa83fe01e1955"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">stop</a> () override</td></tr>
+<tr class="memdesc:a6a774123e3400848884fa83fe01e1955"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the timer <br /></td></tr>
+<tr class="separator:a6a774123e3400848884fa83fe01e1955"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd70b40e8e4b84b48215eeafc5e27520"><td class="memItemLeft" align="right" valign="top"><a id="afd70b40e8e4b84b48215eeafc5e27520"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html#afd70b40e8e4b84b48215eeafc5e27520">start</a> () override</td></tr>
+<tr class="memdesc:afd70b40e8e4b84b48215eeafc5e27520"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the timer <br /></td></tr>
+<tr class="separator:afd70b40e8e4b84b48215eeafc5e27520"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7dd4d03428c7abe2de8ea260a9a4eeff"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">setPeriod</a> (const ros::Duration &amp;duration, const bool reset=true) override</td></tr>
+<tr class="memdesc:a7dd4d03428c7abe2de8ea260a9a4eeff"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the timer period/duration  <a href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">More...</a><br /></td></tr>
+<tr class="separator:a7dd4d03428c7abe2de8ea260a9a4eeff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af5074139258db68cf314b1bf4868243a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">running</a> () override</td></tr>
+<tr class="memdesc:af5074139258db68cf314b1bf4868243a"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns true if callbacks should be called  <a href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">More...</a><br /></td></tr>
+<tr class="separator:af5074139258db68cf314b1bf4868243a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c10fdefa4336a0ccaa5e3946eda6824"><td class="memItemLeft" align="right" valign="top"><a id="a7c10fdefa4336a0ccaa5e3946eda6824"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>ROSTimer</b> (const <a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> &amp;)=delete</td></tr>
+<tr class="separator:a7c10fdefa4336a0ccaa5e3946eda6824"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ac090d048d684dce77c2cbf721e7a4b"><td class="memItemLeft" align="right" valign="top"><a id="a6ac090d048d684dce77c2cbf721e7a4b"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>ROSTimer</b> (<a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> &amp;&amp;)=delete</td></tr>
+<tr class="separator:a6ac090d048d684dce77c2cbf721e7a4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23c218adf410d480d424ccfc16ea6047"><td class="memItemLeft" align="right" valign="top"><a id="a23c218adf410d480d424ccfc16ea6047"></a>
+<a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> &amp;)=delete</td></tr>
+<tr class="separator:a23c218adf410d480d424ccfc16ea6047"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe803ecb15e947501c86b64df4c4f5dc"><td class="memItemLeft" align="right" valign="top"><a id="afe803ecb15e947501c86b64df4c4f5dc"></a>
+<a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> &amp;&amp;)=delete</td></tr>
+<tr class="separator:afe803ecb15e947501c86b64df4c4f5dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0dfc38d13fe6c1311cad6d11ddea7443"><td class="memTemplParams" colspan="2"><a id="a0dfc38d13fe6c1311cad6d11ddea7443"></a>
+template&lt;class ObjectType &gt; </td></tr>
+<tr class="memitem:a0dfc38d13fe6c1311cad6d11ddea7443"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><b>ROSTimer</b> (const ros::NodeHandle &amp;nh, const ros::Duration &amp;duration, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot, const bool autostart)</td></tr>
+<tr class="separator:a0dfc38d13fe6c1311cad6d11ddea7443"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe594c985a1338f4f6c6de4a37b5f0ba"><td class="memTemplParams" colspan="2"><a id="afe594c985a1338f4f6c6de4a37b5f0ba"></a>
+template&lt;class ObjectType &gt; </td></tr>
+<tr class="memitem:afe594c985a1338f4f6c6de4a37b5f0ba"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><b>ROSTimer</b> (const ros::NodeHandle &amp;nh, const ros::Rate &amp;rate, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot, const bool autostart)</td></tr>
+<tr class="separator:afe594c985a1338f4f6c6de4a37b5f0ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1MRSTimer"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1MRSTimer')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td></tr>
+<tr class="memitem:ab8c67e675c0f51ff31bad5e898d90d33 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ab8c67e675c0f51ff31bad5e898d90d33"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>MRSTimer</b> (const <a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;)=default</td></tr>
+<tr class="separator:ab8c67e675c0f51ff31bad5e898d90d33 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae06c621b106897104698b62c28b67b84 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ae06c621b106897104698b62c28b67b84"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>MRSTimer</b> (<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&amp;)=default</td></tr>
+<tr class="separator:ae06c621b106897104698b62c28b67b84 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf622f64026f1e7dbdeeec3b5512e8fb inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="acf622f64026f1e7dbdeeec3b5512e8fb"></a>
+<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;)=default</td></tr>
+<tr class="separator:acf622f64026f1e7dbdeeec3b5512e8fb inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae455e462fc33b2021fb2ce0bc768a75e inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ae455e462fc33b2021fb2ce0bc768a75e"></a>
+<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&amp;)=default</td></tr>
+<tr class="separator:ae455e462fc33b2021fb2ce0bc768a75e inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1MRSTimer"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1MRSTimer')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td></tr>
+<tr class="memitem:ae519667943aa8289e9c75b8182c75322 inherit pub_types_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ae519667943aa8289e9c75b8182c75322"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>callback_t</b> = std::function&lt; void(const ros::TimerEvent &amp;)&gt;</td></tr>
+<tr class="separator:ae519667943aa8289e9c75b8182c75322 inherit pub_types_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aaf683893d28eca7f91e4b2333cf4eed5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf683893d28eca7f91e4b2333cf4eed5">&#9670;&nbsp;</a></span>ROSTimer() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ObjectType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ROSTimer::ROSTimer </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Rate &amp;&#160;</td>
+          <td class="paramname"><em>rate</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType::*)(const ros::TimerEvent &amp;)&#160;</td>
+          <td class="paramname"><em>callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType *const&#160;</td>
+          <td class="paramname"><em>obj</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>oneshot</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>autostart</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructs the object. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">ObjectType</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handle to be used for creating the underlying ros::Timer object. </td></tr>
+    <tr><td class="paramname">rate</td><td>rate at which the callback should be called. </td></tr>
+    <tr><td class="paramname">ObjectType::*const</td><td>callback callback method to be called. </td></tr>
+    <tr><td class="paramname">obj</td><td>object for the method. </td></tr>
+    <tr><td class="paramname">oneshot</td><td>whether the callback should only be called once after starting. </td></tr>
+    <tr><td class="paramname">autostart</td><td>whether the timer should immediately start after construction. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad4913fe0402a8be9b131ad5afb9d7d05"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4913fe0402a8be9b131ad5afb9d7d05">&#9670;&nbsp;</a></span>ROSTimer() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ObjectType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ROSTimer::ROSTimer </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>duration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType::*)(const ros::TimerEvent &amp;)&#160;</td>
+          <td class="paramname"><em>callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType *const&#160;</td>
+          <td class="paramname"><em>obj</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>oneshot</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>autostart</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>full constructor </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">ObjectType</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handle to be used for creating the underlying ros::Timer object. </td></tr>
+    <tr><td class="paramname">duration</td><td>desired callback period. </td></tr>
+    <tr><td class="paramname">ObjectType::*const</td><td>callback callback method to be called. </td></tr>
+    <tr><td class="paramname">obj</td><td>object for the method. </td></tr>
+    <tr><td class="paramname">oneshot</td><td>whether the callback should only be called once after starting. </td></tr>
+    <tr><td class="paramname">autostart</td><td>whether the timer should immediately start after construction. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af5074139258db68cf314b1bf4868243a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5074139258db68cf314b1bf4868243a">&#9670;&nbsp;</a></span>running()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ROSTimer::running </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>returns true if callbacks should be called </p>
+<dl class="section return"><dt>Returns</dt><dd>true if timer is running </dd></dl>
+
+<p>Implements <a class="el" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">mrs_lib::MRSTimer</a>.</p>
+
+</div>
+</div>
+<a id="a7dd4d03428c7abe2de8ea260a9a4eeff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dd4d03428c7abe2de8ea260a9a4eeff">&#9670;&nbsp;</a></span>setPeriod()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ROSTimer::setPeriod </td>
+          <td>(</td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>duration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>reset</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set the timer period/duration </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">duration</td><td></td></tr>
+    <tr><td class="paramname">reset</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">mrs_lib::MRSTimer</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="timer_8h_source.html">timer.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="timer_8hpp_source.html">timer.hpp</a></li>
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+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+    <a href="http://www.doxygen.org/index.html">
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diff --git a/classmrs__lib_1_1Repredictor-members.html b/classmrs__lib_1_1Repredictor-members.html
new file mode 100644
index 00000000..c86c1448
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+++ b/classmrs__lib_1_1Repredictor-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: Member List</title>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license-end */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">addInputChange</a>(const u_t &amp;u, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">addInputChange</a>(const u_t &amp;u, [[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a>(const u_t &amp;u, const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">addInputChangeWithNoise</a>(const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">addMeasurement</a>(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">addMeasurement</a>(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">addProcessNoiseChange</a>(const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">addProcessNoiseChange</a>(const Q_t &amp;Q, [[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>checkMonotonicity</b>(const T &amp;buf) (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>history_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_default_model</b> (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_history</b> (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_sc</b> (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a>(const ros::Time &amp;to_stamp)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">predictTo</a>(const ros::Time &amp;to_stamp)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>printBuffer</b>(const T &amp;buf) (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">Repredictor</a>(const x_t &amp;x0, const P_t &amp;P0, const u_t &amp;u0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">Repredictor</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">Repredictor</a>(const x_t &amp;x0, const P_t &amp;P0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+</body>
+</html>
diff --git a/classmrs__lib_1_1Repredictor.html b/classmrs__lib_1_1Repredictor.html
new file mode 100644
index 00000000..01b56793
--- /dev/null
+++ b/classmrs__lib_1_1Repredictor.html
@@ -0,0 +1,1025 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::Repredictor&lt; Model, disable_reprediction &gt; Class Template Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-types">Protected Types</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classmrs__lib_1_1Repredictor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> for fusing measurements with variable delays.  
+ <a href="classmrs__lib_1_1Repredictor.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="repredictor_8h_source.html">repredictor.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:ac9550981d03dc3c898dcbd39c4bc461f"><td class="memItemLeft" align="right" valign="top"><a id="ac9550981d03dc3c898dcbd39c4bc461f"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> = typename Model::x_t</td></tr>
+<tr class="memdesc:ac9550981d03dc3c898dcbd39c4bc461f"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:ac9550981d03dc3c898dcbd39c4bc461f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19532d9b875ac33f80ffe313dfb26e6d"><td class="memItemLeft" align="right" valign="top"><a id="a19532d9b875ac33f80ffe313dfb26e6d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> = typename Model::u_t</td></tr>
+<tr class="memdesc:a19532d9b875ac33f80ffe313dfb26e6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:a19532d9b875ac33f80ffe313dfb26e6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f12cadd7f0377eccb70b8d61e7ee8e3"><td class="memItemLeft" align="right" valign="top"><a id="a4f12cadd7f0377eccb70b8d61e7ee8e3"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> = typename Model::z_t</td></tr>
+<tr class="memdesc:a4f12cadd7f0377eccb70b8d61e7ee8e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a4f12cadd7f0377eccb70b8d61e7ee8e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca5fb76c2e698ed1dd2c58e340adca58"><td class="memItemLeft" align="right" valign="top"><a id="aca5fb76c2e698ed1dd2c58e340adca58"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> = typename Model::P_t</td></tr>
+<tr class="memdesc:aca5fb76c2e698ed1dd2c58e340adca58"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:aca5fb76c2e698ed1dd2c58e340adca58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac7c07ba0237230fa7346932fb542ae9"><td class="memItemLeft" align="right" valign="top"><a id="aac7c07ba0237230fa7346932fb542ae9"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> = typename Model::R_t</td></tr>
+<tr class="memdesc:aac7c07ba0237230fa7346932fb542ae9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:aac7c07ba0237230fa7346932fb542ae9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af0b9dfd5f21b220e87c79298b061f63d"><td class="memItemLeft" align="right" valign="top"><a id="af0b9dfd5f21b220e87c79298b061f63d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> = typename Model::Q_t</td></tr>
+<tr class="memdesc:af0b9dfd5f21b220e87c79298b061f63d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:af0b9dfd5f21b220e87c79298b061f63d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a794952d1627187223300848cd3e1bf66"><td class="memItemLeft" align="right" valign="top"><a id="a794952d1627187223300848cd3e1bf66"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> = typename Model::statecov_t</td></tr>
+<tr class="memdesc:a794952d1627187223300848cd3e1bf66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable. <br /></td></tr>
+<tr class="separator:a794952d1627187223300848cd3e1bf66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb4a34d97aab3896de9565012a890381"><td class="memItemLeft" align="right" valign="top"><a id="acb4a34d97aab3896de9565012a890381"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> = typename std::shared_ptr&lt; Model &gt;</td></tr>
+<tr class="memdesc:acb4a34d97aab3896de9565012a890381"><td class="mdescLeft">&#160;</td><td class="mdescRight">Shorthand type for a shared pointer-to-Model. <br /></td></tr>
+<tr class="separator:acb4a34d97aab3896de9565012a890381"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a018a96efcc5533e0e43b195cc23ee42e"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a018a96efcc5533e0e43b195cc23ee42e"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt;!check, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a> (const ros::Time &amp;to_stamp)</td></tr>
+<tr class="memdesc:a018a96efcc5533e0e43b195cc23ee42e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates the system state and covariance matrix at the specified time.  <a href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">More...</a><br /></td></tr>
+<tr class="separator:a018a96efcc5533e0e43b195cc23ee42e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4bd7a77f3a9c73309108c35cad4936c"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:ac4bd7a77f3a9c73309108c35cad4936c"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt; check, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">predictTo</a> (const ros::Time &amp;to_stamp)</td></tr>
+<tr class="memdesc:ac4bd7a77f3a9c73309108c35cad4936c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates the system state and covariance matrix at the specified time.  <a href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">More...</a><br /></td></tr>
+<tr class="separator:ac4bd7a77f3a9c73309108c35cad4936c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac85faca4dca9e6f785078eac6819f10f"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:ac85faca4dca9e6f785078eac6819f10f"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt;!check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:ac85faca4dca9e6f785078eac6819f10f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">More...</a><br /></td></tr>
+<tr class="separator:ac85faca4dca9e6f785078eac6819f10f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a203a2fc80f2ab2d0caeb2b09e2c410a3"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a203a2fc80f2ab2d0caeb2b09e2c410a3"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt; check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">addInputChangeWithNoise</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q, [[maybe_unused]] const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:a203a2fc80f2ab2d0caeb2b09e2c410a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">More...</a><br /></td></tr>
+<tr class="separator:a203a2fc80f2ab2d0caeb2b09e2c410a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4db1b1896eb17c54bc906d0e9da1eee9"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a4db1b1896eb17c54bc906d0e9da1eee9"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt;!check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">addInputChange</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:a4db1b1896eb17c54bc906d0e9da1eee9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">More...</a><br /></td></tr>
+<tr class="separator:a4db1b1896eb17c54bc906d0e9da1eee9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2fa01fc3dbe7a557b80b6104466c8b7e"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a2fa01fc3dbe7a557b80b6104466c8b7e"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt; check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">addInputChange</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, [[maybe_unused]] const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:a2fa01fc3dbe7a557b80b6104466c8b7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">More...</a><br /></td></tr>
+<tr class="separator:a2fa01fc3dbe7a557b80b6104466c8b7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1a409036d5c94ee2115b2e31465fd2c7"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a1a409036d5c94ee2115b2e31465fd2c7"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt;!check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">addProcessNoiseChange</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:a1a409036d5c94ee2115b2e31465fd2c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">More...</a><br /></td></tr>
+<tr class="separator:a1a409036d5c94ee2115b2e31465fd2c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad07b1f478d926355157c46d93cde1b4b"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:ad07b1f478d926355157c46d93cde1b4b"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt; check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">addProcessNoiseChange</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q, [[maybe_unused]] const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:ad07b1f478d926355157c46d93cde1b4b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">More...</a><br /></td></tr>
+<tr class="separator:ad07b1f478d926355157c46d93cde1b4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5e1db8bec67cabd386b8924c5312f648"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a5e1db8bec67cabd386b8924c5312f648"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt;!check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">addMeasurement</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> &amp;R, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr, const double &amp;meas_id=-1)</td></tr>
+<tr class="memdesc:a5e1db8bec67cabd386b8924c5312f648"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">More...</a><br /></td></tr>
+<tr class="separator:a5e1db8bec67cabd386b8924c5312f648"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0aed856752f139230db775620b4b97da"><td class="memTemplParams" colspan="2">template&lt;bool check = disable_reprediction&gt; </td></tr>
+<tr class="memitem:a0aed856752f139230db775620b4b97da"><td class="memTemplItemLeft" align="right" valign="top">std::enable_if_t&lt; check &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">addMeasurement</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> &amp;R, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr, const double &amp;meas_id=-1)</td></tr>
+<tr class="memdesc:a0aed856752f139230db775620b4b97da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">More...</a><br /></td></tr>
+<tr class="separator:a0aed856752f139230db775620b4b97da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a035888099138efba982bda818c5fe390"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">Repredictor</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> &amp;x0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> &amp;P0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q0, const ros::Time &amp;t0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model, const unsigned hist_len)</td></tr>
+<tr class="memdesc:a035888099138efba982bda818c5fe390"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">More...</a><br /></td></tr>
+<tr class="separator:a035888099138efba982bda818c5fe390"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0245871abc8208f13b4b33a7c2ece708"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">Repredictor</a> ()</td></tr>
+<tr class="memdesc:a0245871abc8208f13b4b33a7c2ece708"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">More...</a><br /></td></tr>
+<tr class="separator:a0245871abc8208f13b4b33a7c2ece708"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffbce95c9194f159c203378845851d0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">Repredictor</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> &amp;x0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> &amp;P0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q0, const ros::Time &amp;t0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model, const unsigned hist_len)</td></tr>
+<tr class="memdesc:a6ffbce95c9194f159c203378845851d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variation of the constructor for cases without a system input.  <a href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">More...</a><br /></td></tr>
+<tr class="separator:a6ffbce95c9194f159c203378845851d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
+Protected Types</h2></td></tr>
+<tr class="memitem:a4f62944beacf99f22b71726d2cb5a0c1"><td class="memItemLeft" align="right" valign="top"><a id="a4f62944beacf99f22b71726d2cb5a0c1"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>history_t</b> = boost::circular_buffer&lt; info_t &gt;</td></tr>
+<tr class="separator:a4f62944beacf99f22b71726d2cb5a0c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:abcd77c1a5c4a58a9e87ad47d5270f8ed"><td class="memTemplParams" colspan="2"><a id="abcd77c1a5c4a58a9e87ad47d5270f8ed"></a>
+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:abcd77c1a5c4a58a9e87ad47d5270f8ed"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><b>checkMonotonicity</b> (const T &amp;buf)</td></tr>
+<tr class="separator:abcd77c1a5c4a58a9e87ad47d5270f8ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aece422abbff5ac9b83b79b0fd128b85d"><td class="memTemplParams" colspan="2"><a id="aece422abbff5ac9b83b79b0fd128b85d"></a>
+template&lt;typename T &gt; </td></tr>
+<tr class="memitem:aece422abbff5ac9b83b79b0fd128b85d"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>printBuffer</b> (const T &amp;buf)</td></tr>
+<tr class="separator:aece422abbff5ac9b83b79b0fd128b85d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a0353caac9435795af6495ea3ea6a7352"><td class="memItemLeft" align="right" valign="top"><a id="a0353caac9435795af6495ea3ea6a7352"></a>
+<a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_sc</b></td></tr>
+<tr class="separator:a0353caac9435795af6495ea3ea6a7352"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53e46cd8b6ef87f1a716f879883807cf"><td class="memItemLeft" align="right" valign="top"><a id="a53e46cd8b6ef87f1a716f879883807cf"></a>
+<a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_default_model</b></td></tr>
+<tr class="separator:a53e46cd8b6ef87f1a716f879883807cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1a3d0fc65e325813bbdbbcb62ba1d0eb"><td class="memItemLeft" align="right" valign="top"><a id="a1a3d0fc65e325813bbdbbcb62ba1d0eb"></a>
+history_t&#160;</td><td class="memItemRight" valign="bottom"><b>m_history</b></td></tr>
+<tr class="separator:a1a3d0fc65e325813bbdbbcb62ba1d0eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class Model, bool disable_reprediction = false&gt;<br />
+class mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</h3>
+
+<p>Implementation of the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> for fusing measurements with variable delays. </p>
+<p>A standard state-space system model is assumed for the repredictor with system inputs and measurements, generated from the system state vector. The inputs and measurements may be delayed with varying durations (an older measurement may become available after a newer one). A typical use-case scenario is when you have one "fast" but imprecise sensor and one "slow" but precise sensor and you want to use them both to get a good prediction (eg. height from the Garmin LiDAR, which comes at 100Hz, and position from a SLAM, which comes at 10Hz with a long delay). If the slow sensor is significantly slower than the fast one, fusing its measurement at the time it arrives without taking into account the sensor's delay may significantly bias your latest estimate.</p>
+<p>To accomodate this, the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> keeps a buffer of N last inputs and measurements (N is specified in the constructor). This buffer is then used to re-predict the desired state to a specific time, as requested by the user. Note that the re-prediction is evaluated in a lazy manner only when the user requests it, so it goes through the whole history buffer every time a prediction is requested.</p>
+<p>The <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> utilizes a fusion Model (specified as the template parameter), which should implement the predict() and correct() methods. This Model is used for fusing the system inputs and measurements as well as for predictions. Typically, this Model will be some kind of a Kalman Filter (<a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>, <a class="el" href="classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter .">UKF</a> etc.). </p><dl class="section note"><dt>Note</dt><dd>The Model should be able to accomodate predictions with varying time steps in order for the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> to work correctly (see eg. the <a class="el" href="classmrs__lib_1_1varstepLKF.html">varstepLKF</a> class).</dd></dl>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">Model</td><td>the prediction and correction model (eg. a Kalman Filter). </td></tr>
+    <tr><td class="paramname">disable_reprediction</td><td>if true, reprediction is disabled and the class will act like a dumb <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a> (for evaluation purposes). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="repredictor_2example_8cpp-example.html#_a10">repredictor/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a035888099138efba982bda818c5fe390"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a035888099138efba982bda818c5fe390">&#9670;&nbsp;</a></span>Repredictor() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::<a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>x0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>P0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>t0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>hist_len</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<p>Initializes the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> with the necessary initial and default values.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x0</td><td>Initial state. </td></tr>
+    <tr><td class="paramname">P0</td><td>Covariance matrix of the initial state uncertainty. </td></tr>
+    <tr><td class="paramname">u0</td><td>Initial system input. </td></tr>
+    <tr><td class="paramname">Q0</td><td>Default covariance matrix of the process noise. </td></tr>
+    <tr><td class="paramname">t0</td><td>Time stamp of the initial state. </td></tr>
+    <tr><td class="paramname">model</td><td>Default prediction and correction model. </td></tr>
+    <tr><td class="paramname">hist_len</td><td>Length of the history buffer for system inputs and measurements. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0245871abc8208f13b4b33a7c2ece708"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0245871abc8208f13b4b33a7c2ece708">&#9670;&nbsp;</a></span>Repredictor() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::<a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Empty constructor. </p>
+
+</div>
+</div>
+<a id="a6ffbce95c9194f159c203378845851d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffbce95c9194f159c203378845851d0">&#9670;&nbsp;</a></span>Repredictor() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::<a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>x0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>P0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>t0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>hist_len</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Variation of the constructor for cases without a system input. </p>
+<p>Initializes the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> with the necessary initial and default values. Assumes the system input is zero at t0.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x0</td><td>Initial state. </td></tr>
+    <tr><td class="paramname">P0</td><td>Covariance matrix of the initial state uncertainty. </td></tr>
+    <tr><td class="paramname">Q0</td><td>Default covariance matrix of the process noise. </td></tr>
+    <tr><td class="paramname">t0</td><td>Time stamp of the initial state. </td></tr>
+    <tr><td class="paramname">model</td><td>Default prediction and correction model. </td></tr>
+    <tr><td class="paramname">hist_len</td><td>Length of the history buffer for system inputs and measurements. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2fa01fc3dbe7a557b80b6104466c8b7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fa01fc3dbe7a557b80b6104466c8b7e">&#9670;&nbsp;</a></span>addInputChange() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addInputChange </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">[[maybe_unused] ] const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one system input to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">u</td><td>The system input vector to be added. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the input vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>This is the variant of the method when reprediction is disabled and will function like a dumb <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>. </dd></dl>
+
+</div>
+</div>
+<a id="a4db1b1896eb17c54bc906d0e9da1eee9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4db1b1896eb17c54bc906d0e9da1eee9">&#9670;&nbsp;</a></span>addInputChange() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;!check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addInputChange </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one system input to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">u</td><td>The system input vector to be added. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the input vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>The system input vector will not be added if it is older than the oldest element in the history buffer. </dd></dl>
+
+</div>
+</div>
+<a id="a203a2fc80f2ab2d0caeb2b09e2c410a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a203a2fc80f2ab2d0caeb2b09e2c410a3">&#9670;&nbsp;</a></span>addInputChangeWithNoise() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addInputChangeWithNoise </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">[[maybe_unused] ] const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one system input to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">u</td><td>The system input vector to be added. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the input vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>This is the variant of the method when reprediction is disabled and will function like a dumb <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>. </dd></dl>
+
+</div>
+</div>
+<a id="ac85faca4dca9e6f785078eac6819f10f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac85faca4dca9e6f785078eac6819f10f">&#9670;&nbsp;</a></span>addInputChangeWithNoise() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;!check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addInputChangeWithNoise </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one system input to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">u</td><td>The system input vector to be added. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the input vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this input (eg. mapping it to different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>The system input vector will not be added if it is older than the oldest element in the history buffer. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="repredictor_2example_8cpp-example.html#a11">repredictor/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a5e1db8bec67cabd386b8924c5312f648"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e1db8bec67cabd386b8924c5312f648">&#9670;&nbsp;</a></span>addMeasurement() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;!check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addMeasurement </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>meas_id</em> = <code>-1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">z</td><td>The measurement vector to be added. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix, corresponding to the measurement vector. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the measurement vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this measurement (eg. mapping it from different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>The measurement vector will not be added if it is older than the oldest element in the history buffer. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="repredictor_2example_8cpp-example.html#a12">repredictor/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="a0aed856752f139230db775620b4b97da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0aed856752f139230db775620b4b97da">&#9670;&nbsp;</a></span>addMeasurement() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addMeasurement </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>meas_id</em> = <code>-1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">z</td><td>The measurement vector to be added. </td></tr>
+    <tr><td class="paramname">R</td><td>The measurement noise covariance matrix, corresponding to the measurement vector. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the measurement vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this measurement (eg. mapping it from different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>This is the variant of the method when reprediction is disabled and will function like a dumb <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>. </dd></dl>
+
+</div>
+</div>
+<a id="ad07b1f478d926355157c46d93cde1b4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad07b1f478d926355157c46d93cde1b4b">&#9670;&nbsp;</a></span>addProcessNoiseChange() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addProcessNoiseChange </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">[[maybe_unused] ] const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one system input to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the input vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this covariance matrix (eg. mapping it to different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>This is the variant of the method when reprediction is disabled and will function like a dumb <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>. </dd></dl>
+
+</div>
+</div>
+<a id="a1a409036d5c94ee2115b2e31465fd2c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a409036d5c94ee2115b2e31465fd2c7">&#9670;&nbsp;</a></span>addProcessNoiseChange() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;!check&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::addProcessNoiseChange </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Adds one system input to the history buffer, removing the oldest element in the buffer if it is full. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix. </td></tr>
+    <tr><td class="paramname">stamp</td><td>Time stamp of the input vector and covariance matrix. </td></tr>
+    <tr><td class="paramname">model</td><td>Optional pointer to a specific Model to be used with this covariance matrix (eg. mapping it to different states). If it equals to nullptr, the default model specified in the constructor will be used.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>The new element will not be added if it is older than the oldest element in the history buffer. </dd></dl>
+
+</div>
+</div>
+<a id="a018a96efcc5533e0e43b195cc23ee42e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a018a96efcc5533e0e43b195cc23ee42e">&#9670;&nbsp;</a></span>predictTo() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;!check, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a>&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::predictTo </td>
+          <td>(</td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>to_stamp</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Estimates the system state and covariance matrix at the specified time. </p>
+<p>The measurement and system input histories are used to estimate the state vector and covariance matrix values at the specified time, which are returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">to_stamp</td><td>The desired time at which the state vector and covariance matrix should be estimated. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Returns the estimated state vector and covariance matrix in a single struct. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="repredictor_2example_8cpp-example.html#a13">repredictor/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="ac4bd7a77f3a9c73309108c35cad4936c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4bd7a77f3a9c73309108c35cad4936c">&#9670;&nbsp;</a></span>predictTo() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model , bool disable_reprediction = false&gt; </div>
+<div class="memtemplate">
+template&lt;bool check = disable_reprediction&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::enable_if_t&lt;check, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a>&gt; <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a>&lt; Model, disable_reprediction &gt;::predictTo </td>
+          <td>(</td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>to_stamp</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Estimates the system state and covariance matrix at the specified time. </p>
+<p>The measurement and system input histories are used to estimate the state vector and covariance matrix values at the specified time, which are returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">to_stamp</td><td>The desired time at which the state vector and covariance matrix should be estimated. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Returns the estimated state vector and covariance matrix in a single struct.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>This is the variant of the method when reprediction is disabled and will function like a dumb <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="repredictor_8h_source.html">repredictor.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1Repredictor.js b/classmrs__lib_1_1Repredictor.js
new file mode 100644
index 00000000..dd5372d8
--- /dev/null
+++ b/classmrs__lib_1_1Repredictor.js
@@ -0,0 +1,30 @@
+var classmrs__lib_1_1Repredictor =
+[
+    [ "history_t", "classmrs__lib_1_1Repredictor.html#a4f62944beacf99f22b71726d2cb5a0c1", null ],
+    [ "ModelPtr", "classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381", null ],
+    [ "P_t", "classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58", null ],
+    [ "Q_t", "classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d", null ],
+    [ "R_t", "classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9", null ],
+    [ "statecov_t", "classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66", null ],
+    [ "u_t", "classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d", null ],
+    [ "x_t", "classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f", null ],
+    [ "z_t", "classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3", null ],
+    [ "Repredictor", "classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390", null ],
+    [ "Repredictor", "classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708", null ],
+    [ "Repredictor", "classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0", null ],
+    [ "addInputChange", "classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e", null ],
+    [ "addInputChange", "classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9", null ],
+    [ "addInputChangeWithNoise", "classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3", null ],
+    [ "addInputChangeWithNoise", "classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f", null ],
+    [ "addMeasurement", "classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648", null ],
+    [ "addMeasurement", "classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da", null ],
+    [ "addProcessNoiseChange", "classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b", null ],
+    [ "addProcessNoiseChange", "classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7", null ],
+    [ "checkMonotonicity", "classmrs__lib_1_1Repredictor.html#abcd77c1a5c4a58a9e87ad47d5270f8ed", null ],
+    [ "predictTo", "classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e", null ],
+    [ "predictTo", "classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c", null ],
+    [ "printBuffer", "classmrs__lib_1_1Repredictor.html#aece422abbff5ac9b83b79b0fd128b85d", null ],
+    [ "m_default_model", "classmrs__lib_1_1Repredictor.html#a53e46cd8b6ef87f1a716f879883807cf", null ],
+    [ "m_history", "classmrs__lib_1_1Repredictor.html#a1a3d0fc65e325813bbdbbcb62ba1d0eb", null ],
+    [ "m_sc", "classmrs__lib_1_1Repredictor.html#a0353caac9435795af6495ea3ea6a7352", null ]
+];
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::RepredictorAloamgarm&lt; Model &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">addInputChange</a>(const u_t &amp;u, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">addInputChange</a>(const u_t &amp;u,[[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a>(const u_t &amp;u, const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">addInputChangeWithNoise</a>(const u_t &amp;u, const Q_t &amp;Q,[[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">addMeasurement</a>(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">addMeasurement</a>(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">addProcessNoiseChange</a>(const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">addProcessNoiseChange</a>(const Q_t &amp;Q,[[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>checkMonotonicity</b>(const T &amp;buf) (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>history_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_default_model</b> (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_history</b> (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_sc</b> (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">ModelPtr</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a>(const ros::Time &amp;to_stamp)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">predictTo</a>(const ros::Time &amp;to_stamp)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>printBuffer</b>(const T &amp;buf) (defined in <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">Repredictor</a>(const x_t &amp;x0, const P_t &amp;P0, const u_t &amp;u0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">Repredictor</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">Repredictor</a>(const x_t &amp;x0, const P_t &amp;P0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">RepredictorAloamgarm</a>(const x_t &amp;x0, const P_t &amp;P0, const u_t &amp;u0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len, const std::shared_ptr&lt; boost::circular_buffer&lt; double &gt;&gt; &amp;nis_buffer)</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a3e265f15f9b8b031af819d1d2045909b">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="entry"></td></tr>
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+<title>mrs_lib: mrs_lib::RepredictorAloamgarm&lt; Model &gt; Class Template Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1RepredictorAloamgarm-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::RepredictorAloamgarm&lt; Model &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> for fusing measurements with variable delays.  
+ <a href="classmrs__lib_1_1RepredictorAloamgarm.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="repredictor__aloamgarm_8h_source.html">repredictor_aloamgarm.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::RepredictorAloamgarm&lt; Model &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.png" border="0" usemap="#mrs__lib_1_1RepredictorAloamgarm_3_01Model_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::RepredictorAloamgarm&lt; Model &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a5c2992c6bde2dd8f3bdc7673fc3977da"><td class="memItemLeft" align="right" valign="top"><a id="a5c2992c6bde2dd8f3bdc7673fc3977da"></a>
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+<tr class="memdesc:a5c2992c6bde2dd8f3bdc7673fc3977da"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5c2992c6bde2dd8f3bdc7673fc3977da"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:acf7e98ab597eeeb4766b9794cf861f13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
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+<tr class="memdesc:a3e265f15f9b8b031af819d1d2045909b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a3e265f15f9b8b031af819d1d2045909b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1f2bffb8cbea233b14036e016e8bb654"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
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+<tr class="memdesc:afa36b8b183f868a84dc182e4ac562d44"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
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+<tr class="memdesc:aa031cc536ee7a46c3e79287c65fc1fa7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:aa031cc536ee7a46c3e79287c65fc1fa7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4d5da8a5d296bf98bff6f99eaf550ae7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable. <br /></td></tr>
+<tr class="separator:a4d5da8a5d296bf98bff6f99eaf550ae7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">ModelPtr</a> = typename std::shared_ptr&lt; Model &gt;</td></tr>
+<tr class="memdesc:a7766d3dbccd04fcbe584cca6730153ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Shorthand type for a shared pointer-to-Model. <br /></td></tr>
+<tr class="separator:a7766d3dbccd04fcbe584cca6730153ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>history_t</b> = typename <a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a>&lt; Model &gt;::history_t</td></tr>
+<tr class="separator:adfbe585577a0feda074bad4e18d617dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1Repredictor"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1Repredictor')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td></tr>
+<tr class="memitem:ac9550981d03dc3c898dcbd39c4bc461f inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="ac9550981d03dc3c898dcbd39c4bc461f"></a>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> = typename Model::u_t</td></tr>
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+<tr class="separator:a19532d9b875ac33f80ffe313dfb26e6d inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f12cadd7f0377eccb70b8d61e7ee8e3 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="a4f12cadd7f0377eccb70b8d61e7ee8e3"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> = typename Model::z_t</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> = typename Model::P_t</td></tr>
+<tr class="memdesc:aca5fb76c2e698ed1dd2c58e340adca58 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:aca5fb76c2e698ed1dd2c58e340adca58 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac7c07ba0237230fa7346932fb542ae9 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="aac7c07ba0237230fa7346932fb542ae9"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> = typename Model::R_t</td></tr>
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+<tr class="separator:aac7c07ba0237230fa7346932fb542ae9 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af0b9dfd5f21b220e87c79298b061f63d inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="af0b9dfd5f21b220e87c79298b061f63d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> = typename Model::Q_t</td></tr>
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+<tr class="separator:af0b9dfd5f21b220e87c79298b061f63d inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a794952d1627187223300848cd3e1bf66 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="a794952d1627187223300848cd3e1bf66"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> = typename Model::statecov_t</td></tr>
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+<tr class="separator:a794952d1627187223300848cd3e1bf66 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb4a34d97aab3896de9565012a890381 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="acb4a34d97aab3896de9565012a890381"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> = typename std::shared_ptr&lt; Model &gt;</td></tr>
+<tr class="memdesc:acb4a34d97aab3896de9565012a890381 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Shorthand type for a shared pointer-to-Model. <br /></td></tr>
+<tr class="separator:acb4a34d97aab3896de9565012a890381 inherit pub_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a1e1d3245d8f2fd98c9f80d4795061395"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">RepredictorAloamgarm</a> (const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">x_t</a> &amp;x0, const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">P_t</a> &amp;P0, const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">u_t</a> &amp;u0, const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">Q_t</a> &amp;Q0, const ros::Time &amp;t0, const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">ModelPtr</a> &amp;model, const unsigned hist_len, const std::shared_ptr&lt; boost::circular_buffer&lt; double &gt;&gt; &amp;nis_buffer)</td></tr>
+<tr class="memdesc:a1e1d3245d8f2fd98c9f80d4795061395"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variation of the constructor for kalman filter using nis_buffer (ALOAMGARM)  <a href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">More...</a><br /></td></tr>
+<tr class="separator:a1e1d3245d8f2fd98c9f80d4795061395"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1Repredictor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1Repredictor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td></tr>
+<tr class="memitem:a018a96efcc5533e0e43b195cc23ee42e inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">std::enable_if_t&lt;!check, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a> (const ros::Time &amp;to_stamp)</td></tr>
+<tr class="memdesc:a018a96efcc5533e0e43b195cc23ee42e inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates the system state and covariance matrix at the specified time.  <a href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">More...</a><br /></td></tr>
+<tr class="separator:a018a96efcc5533e0e43b195cc23ee42e inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4bd7a77f3a9c73309108c35cad4936c inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">std::enable_if_t&lt; check, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">predictTo</a> (const ros::Time &amp;to_stamp)</td></tr>
+<tr class="memdesc:ac4bd7a77f3a9c73309108c35cad4936c inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates the system state and covariance matrix at the specified time.  <a href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">More...</a><br /></td></tr>
+<tr class="separator:ac4bd7a77f3a9c73309108c35cad4936c inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac85faca4dca9e6f785078eac6819f10f inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">std::enable_if_t&lt;!check &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:ac85faca4dca9e6f785078eac6819f10f inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">More...</a><br /></td></tr>
+<tr class="separator:ac85faca4dca9e6f785078eac6819f10f inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a203a2fc80f2ab2d0caeb2b09e2c410a3 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">std::enable_if_t&lt; check &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">addInputChangeWithNoise</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q,[[maybe_unused]] const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:a203a2fc80f2ab2d0caeb2b09e2c410a3 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">More...</a><br /></td></tr>
+<tr class="separator:a203a2fc80f2ab2d0caeb2b09e2c410a3 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4db1b1896eb17c54bc906d0e9da1eee9 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">std::enable_if_t&lt;!check &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">addInputChange</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr)</td></tr>
+<tr class="memdesc:a4db1b1896eb17c54bc906d0e9da1eee9 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">More...</a><br /></td></tr>
+<tr class="separator:a4db1b1896eb17c54bc906d0e9da1eee9 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2fa01fc3dbe7a557b80b6104466c8b7e inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1a409036d5c94ee2115b2e31465fd2c7 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad07b1f478d926355157c46d93cde1b4b inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a5e1db8bec67cabd386b8924c5312f648 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">More...</a><br /></td></tr>
+<tr class="separator:a5e1db8bec67cabd386b8924c5312f648 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0aed856752f139230db775620b4b97da inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">std::enable_if_t&lt; check &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">addMeasurement</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> &amp;R, const ros::Time &amp;stamp, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model=nullptr, const double &amp;meas_id=-1)</td></tr>
+<tr class="memdesc:a0aed856752f139230db775620b4b97da inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.  <a href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">More...</a><br /></td></tr>
+<tr class="separator:a0aed856752f139230db775620b4b97da inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a035888099138efba982bda818c5fe390 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">Repredictor</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> &amp;x0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> &amp;P0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> &amp;u0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q0, const ros::Time &amp;t0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model, const unsigned hist_len)</td></tr>
+<tr class="memdesc:a035888099138efba982bda818c5fe390 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">More...</a><br /></td></tr>
+<tr class="separator:a035888099138efba982bda818c5fe390 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0245871abc8208f13b4b33a7c2ece708 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">Repredictor</a> ()</td></tr>
+<tr class="memdesc:a0245871abc8208f13b4b33a7c2ece708 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">More...</a><br /></td></tr>
+<tr class="separator:a0245871abc8208f13b4b33a7c2ece708 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffbce95c9194f159c203378845851d0 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">Repredictor</a> (const <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> &amp;x0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> &amp;P0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> &amp;Q0, const ros::Time &amp;t0, const <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> &amp;model, const unsigned hist_len)</td></tr>
+<tr class="memdesc:a6ffbce95c9194f159c203378845851d0 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Variation of the constructor for cases without a system input.  <a href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">More...</a><br /></td></tr>
+<tr class="separator:a6ffbce95c9194f159c203378845851d0 inherit pub_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_types_classmrs__lib_1_1Repredictor"><td colspan="2" onclick="javascript:toggleInherit('pro_types_classmrs__lib_1_1Repredictor')"><img src="closed.png" alt="-"/>&#160;Protected Types inherited from <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td></tr>
+<tr class="memitem:a4f62944beacf99f22b71726d2cb5a0c1 inherit pro_types_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="a4f62944beacf99f22b71726d2cb5a0c1"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>history_t</b> = boost::circular_buffer&lt; info_t &gt;</td></tr>
+<tr class="separator:a4f62944beacf99f22b71726d2cb5a0c1 inherit pro_types_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classmrs__lib_1_1Repredictor"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classmrs__lib_1_1Repredictor')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td></tr>
+<tr class="memitem:abcd77c1a5c4a58a9e87ad47d5270f8ed inherit pro_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="abcd77c1a5c4a58a9e87ad47d5270f8ed"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>checkMonotonicity</b> (const T &amp;buf)</td></tr>
+<tr class="separator:abcd77c1a5c4a58a9e87ad47d5270f8ed inherit pro_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aece422abbff5ac9b83b79b0fd128b85d inherit pro_methods_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="aece422abbff5ac9b83b79b0fd128b85d"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>printBuffer</b> (const T &amp;buf)</td></tr>
+<tr class="separator:aece422abbff5ac9b83b79b0fd128b85d inherit pro_methods_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classmrs__lib_1_1Repredictor"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classmrs__lib_1_1Repredictor')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor&lt; Model &gt;</a></td></tr>
+<tr class="memitem:a0353caac9435795af6495ea3ea6a7352 inherit pro_attribs_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="a0353caac9435795af6495ea3ea6a7352"></a>
+<a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_sc</b></td></tr>
+<tr class="separator:a0353caac9435795af6495ea3ea6a7352 inherit pro_attribs_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53e46cd8b6ef87f1a716f879883807cf inherit pro_attribs_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="a53e46cd8b6ef87f1a716f879883807cf"></a>
+<a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_default_model</b></td></tr>
+<tr class="separator:a53e46cd8b6ef87f1a716f879883807cf inherit pro_attribs_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1a3d0fc65e325813bbdbbcb62ba1d0eb inherit pro_attribs_classmrs__lib_1_1Repredictor"><td class="memItemLeft" align="right" valign="top"><a id="a1a3d0fc65e325813bbdbbcb62ba1d0eb"></a>
+history_t&#160;</td><td class="memItemRight" valign="bottom"><b>m_history</b></td></tr>
+<tr class="separator:a1a3d0fc65e325813bbdbbcb62ba1d0eb inherit pro_attribs_classmrs__lib_1_1Repredictor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class Model&gt;<br />
+class mrs_lib::RepredictorAloamgarm&lt; Model &gt;</h3>
+
+<p>Implementation of the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> for fusing measurements with variable delays. </p>
+<p>A standard state-space system model is assumed for the repredictor with system inputs and measurements, generated from the system state vector. The inputs and measurements may be delayed with varying durations (an older measurement may become available after a newer one). A typical use-case scenario is when you have one "fast" but imprecise sensor and one "slow" but precise sensor and you want to use them both to get a good prediction (eg. height from the Garmin LiDAR, which comes at 100Hz, and position from a SLAM, which comes at 10Hz with a long delay). If the slow sensor is significantly slower than the fast one, fusing its measurement at the time it arrives without taking into account the sensor's delay may significantly bias your latest estimate.</p>
+<p>To accomodate this, the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> keeps a buffer of N last inputs and measurements (N is specified in the constructor). This buffer is then used to re-predict the desired state to a specific time, as requested by the user. Note that the re-prediction is evaluated in a lazy manner only when the user requests it, so it goes through the whole history buffer every time a prediction is requested.</p>
+<p>The <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> utilizes a fusion Model (specified as the template parameter), which should implement the predict() and correct() methods. This Model is used for fusing the system inputs and measurements as well as for predictions. Typically, this Model will be some kind of a Kalman Filter (<a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a>, <a class="el" href="classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter .">UKF</a> etc.). </p><dl class="section note"><dt>Note</dt><dd>The Model should be able to accomodate predictions with varying time steps in order for the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> to work correctly (see eg. the <a class="el" href="classmrs__lib_1_1varstepLKF.html">varstepLKF</a> class).</dd></dl>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">Model</td><td>the prediction and correction model (eg. a Kalman Filter). </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1e1d3245d8f2fd98c9f80d4795061395"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e1d3245d8f2fd98c9f80d4795061395">&#9670;&nbsp;</a></span>RepredictorAloamgarm()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class Model &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm</a>&lt; Model &gt;::<a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">RepredictorAloamgarm</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">x_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>x0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">P_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>P0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>t0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">ModelPtr</a> &amp;&#160;</td>
+          <td class="paramname"><em>model</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const unsigned&#160;</td>
+          <td class="paramname"><em>hist_len</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::shared_ptr&lt; boost::circular_buffer&lt; double &gt;&gt; &amp;&#160;</td>
+          <td class="paramname"><em>nis_buffer</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Variation of the constructor for kalman filter using nis_buffer (ALOAMGARM) </p>
+<p>Initializes the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> with the necessary initial and default values.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x0</td><td>Initial state. </td></tr>
+    <tr><td class="paramname">P0</td><td>Covariance matrix of the initial state uncertainty. </td></tr>
+    <tr><td class="paramname">u0</td><td>Initial system input. </td></tr>
+    <tr><td class="paramname">Q0</td><td>Default covariance matrix of the process noise. </td></tr>
+    <tr><td class="paramname">t0</td><td>Time stamp of the initial state. </td></tr>
+    <tr><td class="paramname">model</td><td>Default prediction and correction model. </td></tr>
+    <tr><td class="paramname">hist_len</td><td>Length of the history buffer for system inputs and measurements. </td></tr>
+    <tr><td class="paramname">nis_buffer</td><td>Circular buffer for NIS values. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="repredictor__aloamgarm_8h_source.html">repredictor_aloamgarm.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">RepredictorAloamgarm</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "Q_t", "classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7", null ],
+    [ "R_t", "classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44", null ],
+    [ "statecov_t", "classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7", null ],
+    [ "u_t", "classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13", null ],
+    [ "x_t", "classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da", null ],
+    [ "z_t", "classmrs__lib_1_1RepredictorAloamgarm.html#a3e265f15f9b8b031af819d1d2045909b", null ],
+    [ "RepredictorAloamgarm", "classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395", null ]
+];
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diff --git a/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.map b/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.map
new file mode 100644
index 00000000..68c827b9
--- /dev/null
+++ b/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::RepredictorAloamgarm&lt; Model &gt;" name="mrs_lib::RepredictorAloamgarm&lt; Model &gt;">
+<area shape="rect" id="node1" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays." alt="" coords="5,95,235,136"/>
+<area shape="rect" id="node2" href="$classmrs__lib_1_1Repredictor.html" title=" " alt="" coords="43,5,197,47"/>
+</map>
diff --git a/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.md5 b/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.md5
new file mode 100644
index 00000000..4419632f
--- /dev/null
+++ b/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.png b/classmrs__lib_1_1RepredictorAloamgarm__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3442949dbdedcb09a28b38f965136bf6b936444
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::Routine Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>end</b>(void) (defined in <a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Routine</b>(std::string name, std::string node_name, std::shared_ptr&lt; ros::Publisher &gt; publisher, std::shared_ptr&lt; std::mutex &gt; mutex_publisher, bool profiler_enabled) (defined in <a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Routine</b>(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr&lt; ros::Publisher &gt; publisher, std::shared_ptr&lt; std::mutex &gt; mutex_publisher, bool profiler_enabled, ros::TimerEvent event) (defined in <a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~Routine</b>() (defined in <a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a></td><td class="entry"></td></tr>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle">
+<div class="title">mrs_lib::Routine Class Reference</div>  </div>
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+<li>src/profiler/profiler.cpp</li>
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1Routine.html">Routine</a></li>
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+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div id="doc-content">
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+  <div class="headertitle">
+<div class="title">mrs_lib::SafetyZone Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getBorder</b>() (defined in <a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>isPathValid</b>(const double p1x, const double p1y, const double p2x, const double p2y) (defined in <a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>isPointValid</b>(const double px, const double py) (defined in <a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>SafetyZone</b>(Polygon outerBorder) (defined in <a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>SafetyZone</b>(const Eigen::MatrixXd &amp;outerBorderMatrix) (defined in <a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SafetyZone.html">mrs_lib::SafetyZone</a></td><td class="entry"></td></tr>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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+ <tr style="height: 56px;">
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+<li>include/mrs_lib/safety_zone/<a class="el" href="safety__zone_8h_source.html">safety_zone.h</a></li>
+<li>src/safety_zone/safety_zone.cpp</li>
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+<!-- start footer part -->
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+  <ul>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+</script>
+<div id="doc-content">
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+  <div class="headertitle">
+<div class="title">mrs_lib::ScopeTimer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938">checkpoint</a>(const std::string &amp;label)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">getLifetime</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">ScopeTimer</a>(const std::string &amp;label, const ros::Duration &amp;throttle_period=ros::Duration(0), const bool enable=true, const std::shared_ptr&lt; ScopeTimerLogger &gt; scope_timer_logger=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#a8943aec6fbe491633b7f698eb3f0d131">ScopeTimer</a>(const std::string &amp;label, const time_point &amp;tp0, const ros::Duration &amp;throttle_period=ros::Duration(0), const bool enable=true, const std::shared_ptr&lt; ScopeTimerLogger &gt; scope_timer_logger=nullptr)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#abdaf77484c74055916b8e491c8ffe318">ScopeTimer</a>(const std::string &amp;label, const std::shared_ptr&lt; ScopeTimerLogger &gt; scope_timer_logger, const bool enable=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102">~ScopeTimer</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ScopeTimer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ScopeTimer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.  
+ <a href="classmrs__lib_1_1ScopeTimer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="scope__timer_8h_source.html">scope_timer.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">time_point</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:aebac3a7bad2d63f49d5777e08b504661"><td class="memItemLeft" align="right" valign="top"><a id="aebac3a7bad2d63f49d5777e08b504661"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">ScopeTimer</a> (const std::string &amp;label, const ros::Duration &amp;throttle_period=ros::Duration(0), const bool enable=true, const std::shared_ptr&lt; <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">ScopeTimerLogger</a> &gt; scope_timer_logger=nullptr)</td></tr>
+<tr class="memdesc:aebac3a7bad2d63f49d5777e08b504661"><td class="mdescLeft">&#160;</td><td class="mdescRight">The basic constructor with a user-defined label of the timer, throttled period and file logger. <br /></td></tr>
+<tr class="separator:aebac3a7bad2d63f49d5777e08b504661"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8943aec6fbe491633b7f698eb3f0d131"><td class="memItemLeft" align="right" valign="top"><a id="a8943aec6fbe491633b7f698eb3f0d131"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#a8943aec6fbe491633b7f698eb3f0d131">ScopeTimer</a> (const std::string &amp;label, const <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">time_point</a> &amp;tp0, const ros::Duration &amp;throttle_period=ros::Duration(0), const bool enable=true, const std::shared_ptr&lt; <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">ScopeTimerLogger</a> &gt; scope_timer_logger=nullptr)</td></tr>
+<tr class="memdesc:a8943aec6fbe491633b7f698eb3f0d131"><td class="mdescLeft">&#160;</td><td class="mdescRight">The basic constructor with a user-defined label of the timer and a pre-start time, which will also be measured. <br /></td></tr>
+<tr class="separator:a8943aec6fbe491633b7f698eb3f0d131"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdaf77484c74055916b8e491c8ffe318"><td class="memItemLeft" align="right" valign="top"><a id="abdaf77484c74055916b8e491c8ffe318"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#abdaf77484c74055916b8e491c8ffe318">ScopeTimer</a> (const std::string &amp;label, const std::shared_ptr&lt; <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">ScopeTimerLogger</a> &gt; scope_timer_logger, const bool enable=true)</td></tr>
+<tr class="memdesc:abdaf77484c74055916b8e491c8ffe318"><td class="mdescLeft">&#160;</td><td class="mdescRight">The basic constructor with a user-defined label of the timer and file logger. <br /></td></tr>
+<tr class="separator:abdaf77484c74055916b8e491c8ffe318"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acbb378343cba8f94ef228024d7a4b938"><td class="memItemLeft" align="right" valign="top"><a id="acbb378343cba8f94ef228024d7a4b938"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938">checkpoint</a> (const std::string &amp;label)</td></tr>
+<tr class="memdesc:acbb378343cba8f94ef228024d7a4b938"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checkpoint, prints the time passed until the point this function is called. <br /></td></tr>
+<tr class="separator:acbb378343cba8f94ef228024d7a4b938"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe8dc75be918b3a2ca7bbb043a022106"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">getLifetime</a> ()</td></tr>
+<tr class="memdesc:abe8dc75be918b3a2ca7bbb043a022106"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for scope timer lifetime.  <a href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">More...</a><br /></td></tr>
+<tr class="separator:abe8dc75be918b3a2ca7bbb043a022106"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a243e048e46a8ef623b60c465dc7ee102"><td class="memItemLeft" align="right" valign="top"><a id="a243e048e46a8ef623b60c465dc7ee102"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102">~ScopeTimer</a> ()</td></tr>
+<tr class="memdesc:a243e048e46a8ef623b60c465dc7ee102"><td class="mdescLeft">&#160;</td><td class="mdescRight">The basic destructor which prints out or logs the scope times, if enabled. <br /></td></tr>
+<tr class="separator:a243e048e46a8ef623b60c465dc7ee102"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="abe8dc75be918b3a2ca7bbb043a022106"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe8dc75be918b3a2ca7bbb043a022106">&#9670;&nbsp;</a></span>getLifetime()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">float mrs_lib::ScopeTimer::getLifetime </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Getter for scope timer lifetime. </p>
+<dl class="section return"><dt>Returns</dt><dd>lifetime as floating point milliseconds </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="scope__timer_8h_source.html">scope_timer.h</a></li>
+<li>src/scope_timer/scope_timer.cpp</li>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "~ScopeTimer", "classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102", null ],
+    [ "checkpoint", "classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938", null ],
+    [ "getLifetime", "classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106", null ]
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+/* @license-end */
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+<div id="doc-content">
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+  <div class="headertitle">
+<div class="title">mrs_lib::ScopeTimerLogger Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>chrono_tp</b> typedef (defined in <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">getLogFilepath</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06">log</a>(const std::string &amp;scope, const chrono_tp &amp;time_start, const chrono_tp &amp;time_end)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8f3794f5477960606a86543ddb708b1f">log</a>(const std::string &amp;scope, const std::string &amp;label_from, const std::string &amp;label_to, const chrono_tp &amp;time_start, const chrono_tp &amp;time_end)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">loggingEnabled</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c">ScopeTimerLogger</a>(const std::string &amp;logfile, const bool enable_logging=true, const int log_precision=10)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">shouldLog</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a0152ea8087d16a05027e66c44d99662e">~ScopeTimerLogger</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::ScopeTimerLogger Class Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ScopeTimerLogger-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ScopeTimerLogger Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Simple file logger of scope timer and its checkpoints.  
+ <a href="classmrs__lib_1_1ScopeTimerLogger.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="scope__timer_8h_source.html">scope_timer.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+<tr class="memitem:ac495e41e5cac5285245d56d6e7cdd235"><td class="memItemLeft" align="right" valign="top"><a id="ac495e41e5cac5285245d56d6e7cdd235"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>chrono_tp</b> = std::chrono::time_point&lt; std::chrono::steady_clock &gt;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a5369b8ec91eab0a06b87485bed5c130c"><td class="memItemLeft" align="right" valign="top"><a id="a5369b8ec91eab0a06b87485bed5c130c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c">ScopeTimerLogger</a> (const std::string &amp;logfile, const bool enable_logging=true, const int log_precision=10)</td></tr>
+<tr class="memdesc:a5369b8ec91eab0a06b87485bed5c130c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The basic constructor with a user-defined path to the logger file, enable flag and float-logging precision. <br /></td></tr>
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+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a0152ea8087d16a05027e66c44d99662e">~ScopeTimerLogger</a> ()</td></tr>
+<tr class="memdesc:a0152ea8087d16a05027e66c44d99662e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The basic destructor which closes the logging file. <br /></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">shouldLog</a> ()</td></tr>
+<tr class="memdesc:a8bb5c6453336967529f118a717f20825"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if a non-empty path to a logger file was given by the user. <br /></td></tr>
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+<tr class="memitem:aaf51a60a214ab18976a354c328fc9d09"><td class="memItemLeft" align="right" valign="top"><a id="aaf51a60a214ab18976a354c328fc9d09"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">loggingEnabled</a> ()</td></tr>
+<tr class="memdesc:aaf51a60a214ab18976a354c328fc9d09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the enable flag was set to true, a non-empty path to a logger file was given by the user and the logger file stream was successfully opened. <br /></td></tr>
+<tr class="separator:aaf51a60a214ab18976a354c328fc9d09"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:addb114f39d72c3c3ee2ea8a4074cf455"><td class="memItemLeft" align="right" valign="top"><a id="addb114f39d72c3c3ee2ea8a4074cf455"></a>
+std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">getLogFilepath</a> ()</td></tr>
+<tr class="memdesc:addb114f39d72c3c3ee2ea8a4074cf455"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the path to the log. <br /></td></tr>
+<tr class="separator:addb114f39d72c3c3ee2ea8a4074cf455"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98f7fe29f151e4d0b88952530f40ef06"><td class="memItemLeft" align="right" valign="top"><a id="a98f7fe29f151e4d0b88952530f40ef06"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06">log</a> (const std::string &amp;scope, const chrono_tp &amp;time_start, const chrono_tp &amp;time_end)</td></tr>
+<tr class="memdesc:a98f7fe29f151e4d0b88952530f40ef06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes the time data of the given scope and empty checkpoints into the logger stream. <br /></td></tr>
+<tr class="separator:a98f7fe29f151e4d0b88952530f40ef06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f3794f5477960606a86543ddb708b1f"><td class="memItemLeft" align="right" valign="top"><a id="a8f3794f5477960606a86543ddb708b1f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8f3794f5477960606a86543ddb708b1f">log</a> (const std::string &amp;scope, const std::string &amp;label_from, const std::string &amp;label_to, const chrono_tp &amp;time_start, const chrono_tp &amp;time_end)</td></tr>
+<tr class="memdesc:a8f3794f5477960606a86543ddb708b1f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes the time data of the given scope and checkpoint labels into the logger stream. <br /></td></tr>
+<tr class="separator:a8f3794f5477960606a86543ddb708b1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Simple file logger of scope timer and its checkpoints. </p>
+</div><hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="scope__timer_8h_source.html">scope_timer.h</a></li>
+<li>src/scope_timer/scope_timer.cpp</li>
+</ul>
+</div><!-- contents -->
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+<!-- start footer part -->
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">ScopeTimerLogger</a></li>
+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+    [ "ScopeTimerLogger", "classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c", null ],
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+    [ "log", "classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06", null ],
+    [ "log", "classmrs__lib_1_1ScopeTimerLogger.html#a8f3794f5477960606a86543ddb708b1f", null ],
+    [ "loggingEnabled", "classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09", null ],
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">call</a>(ServiceType &amp;srv)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a7eee51ebff7a805d425673ddc166d489">call</a>(ServiceType &amp;srv, const int &amp;attempts)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#afdf41e0cf6b2fa0941ee0ae703facc71">call</a>(ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">callAsync</a>(ServiceType &amp;srv)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a390d8d24962c3efd849f44627b29387e">callAsync</a>(ServiceType &amp;srv, const int &amp;attempts)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#ac6babcda855d48bc3b8fc72f45f7672b">callAsync</a>(ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">initialize</a>(ros::NodeHandle &amp;nh, const std::string &amp;address)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">operator=</a>(const ServiceClientHandler &amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a7d0e35cfbbe280ab0d739c23a26189de">ServiceClientHandler</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#acf286dd2720d41fa05e98c7327d94413">ServiceClientHandler</a>(const ServiceClientHandler &amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a6da5592ce8388bd1aa08b63fd3d3d060">ServiceClientHandler</a>(ros::NodeHandle &amp;nh, const std::string &amp;address)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#ad796fc7f9044bdeeacdf549faa1d2f48">~ServiceClientHandler</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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diff --git a/classmrs__lib_1_1ServiceClientHandler.html b/classmrs__lib_1_1ServiceClientHandler.html
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+<title>mrs_lib: mrs_lib::ServiceClientHandler&lt; ServiceType &gt; Class Template Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ServiceClientHandler-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ServiceClientHandler&lt; ServiceType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>user wrapper of the service client handler implementation  
+ <a href="classmrs__lib_1_1ServiceClientHandler.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="service__client__handler_8h_source.html">service_client_handler.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7d0e35cfbbe280ab0d739c23a26189de"><td class="memItemLeft" align="right" valign="top"><a id="a7d0e35cfbbe280ab0d739c23a26189de"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a7d0e35cfbbe280ab0d739c23a26189de">ServiceClientHandler</a> (void)</td></tr>
+<tr class="memdesc:a7d0e35cfbbe280ab0d739c23a26189de"><td class="mdescLeft">&#160;</td><td class="mdescRight">generic constructor <br /></td></tr>
+<tr class="separator:a7d0e35cfbbe280ab0d739c23a26189de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad796fc7f9044bdeeacdf549faa1d2f48"><td class="memItemLeft" align="right" valign="top"><a id="ad796fc7f9044bdeeacdf549faa1d2f48"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#ad796fc7f9044bdeeacdf549faa1d2f48">~ServiceClientHandler</a> (void)</td></tr>
+<tr class="memdesc:ad796fc7f9044bdeeacdf549faa1d2f48"><td class="mdescLeft">&#160;</td><td class="mdescRight">generic destructor <br /></td></tr>
+<tr class="separator:ad796fc7f9044bdeeacdf549faa1d2f48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a03d184432cd8b51f683746e87b071bdb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">operator=</a> (const <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a> &amp;other)</td></tr>
+<tr class="memdesc:a03d184432cd8b51f683746e87b071bdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">operator=  <a href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">More...</a><br /></td></tr>
+<tr class="separator:a03d184432cd8b51f683746e87b071bdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf286dd2720d41fa05e98c7327d94413"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#acf286dd2720d41fa05e98c7327d94413">ServiceClientHandler</a> (const <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a> &amp;other)</td></tr>
+<tr class="memdesc:acf286dd2720d41fa05e98c7327d94413"><td class="mdescLeft">&#160;</td><td class="mdescRight">copy constructor  <a href="classmrs__lib_1_1ServiceClientHandler.html#acf286dd2720d41fa05e98c7327d94413">More...</a><br /></td></tr>
+<tr class="separator:acf286dd2720d41fa05e98c7327d94413"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6da5592ce8388bd1aa08b63fd3d3d060"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a6da5592ce8388bd1aa08b63fd3d3d060">ServiceClientHandler</a> (ros::NodeHandle &amp;nh, const std::string &amp;address)</td></tr>
+<tr class="memdesc:a6da5592ce8388bd1aa08b63fd3d3d060"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor  <a href="classmrs__lib_1_1ServiceClientHandler.html#a6da5592ce8388bd1aa08b63fd3d3d060">More...</a><br /></td></tr>
+<tr class="separator:a6da5592ce8388bd1aa08b63fd3d3d060"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adff9526494a62051bf864ef6a7178450"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">initialize</a> (ros::NodeHandle &amp;nh, const std::string &amp;address)</td></tr>
+<tr class="memdesc:adff9526494a62051bf864ef6a7178450"><td class="mdescLeft">&#160;</td><td class="mdescRight">initializer  <a href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">More...</a><br /></td></tr>
+<tr class="separator:adff9526494a62051bf864ef6a7178450"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acd827db26db5d8e1f310769509176fe2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">call</a> (ServiceType &amp;srv)</td></tr>
+<tr class="memdesc:acd827db26db5d8e1f310769509176fe2"><td class="mdescLeft">&#160;</td><td class="mdescRight">"standard" synchronous call  <a href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">More...</a><br /></td></tr>
+<tr class="separator:acd827db26db5d8e1f310769509176fe2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7eee51ebff7a805d425673ddc166d489"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a7eee51ebff7a805d425673ddc166d489">call</a> (ServiceType &amp;srv, const int &amp;attempts)</td></tr>
+<tr class="memdesc:a7eee51ebff7a805d425673ddc166d489"><td class="mdescLeft">&#160;</td><td class="mdescRight">"standard" synchronous call with repeats after failure  <a href="classmrs__lib_1_1ServiceClientHandler.html#a7eee51ebff7a805d425673ddc166d489">More...</a><br /></td></tr>
+<tr class="separator:a7eee51ebff7a805d425673ddc166d489"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afdf41e0cf6b2fa0941ee0ae703facc71"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#afdf41e0cf6b2fa0941ee0ae703facc71">call</a> (ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td></tr>
+<tr class="memdesc:afdf41e0cf6b2fa0941ee0ae703facc71"><td class="mdescLeft">&#160;</td><td class="mdescRight">"standard" synchronous call with repeats after failure  <a href="classmrs__lib_1_1ServiceClientHandler.html#afdf41e0cf6b2fa0941ee0ae703facc71">More...</a><br /></td></tr>
+<tr class="separator:afdf41e0cf6b2fa0941ee0ae703facc71"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa7f3a5d1566aa2a361594797f162ca0d"><td class="memItemLeft" align="right" valign="top">std::future&lt; ServiceType &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">callAsync</a> (ServiceType &amp;srv)</td></tr>
+<tr class="memdesc:aa7f3a5d1566aa2a361594797f162ca0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">asynchronous call  <a href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">More...</a><br /></td></tr>
+<tr class="separator:aa7f3a5d1566aa2a361594797f162ca0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a390d8d24962c3efd849f44627b29387e"><td class="memItemLeft" align="right" valign="top">std::future&lt; ServiceType &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a390d8d24962c3efd849f44627b29387e">callAsync</a> (ServiceType &amp;srv, const int &amp;attempts)</td></tr>
+<tr class="memdesc:a390d8d24962c3efd849f44627b29387e"><td class="mdescLeft">&#160;</td><td class="mdescRight">asynchronous call with repeats after failure  <a href="classmrs__lib_1_1ServiceClientHandler.html#a390d8d24962c3efd849f44627b29387e">More...</a><br /></td></tr>
+<tr class="separator:a390d8d24962c3efd849f44627b29387e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac6babcda855d48bc3b8fc72f45f7672b"><td class="memItemLeft" align="right" valign="top">std::future&lt; ServiceType &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#ac6babcda855d48bc3b8fc72f45f7672b">callAsync</a> (ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td></tr>
+<tr class="memdesc:ac6babcda855d48bc3b8fc72f45f7672b"><td class="mdescLeft">&#160;</td><td class="mdescRight">asynchronous call with repeats after failure  <a href="classmrs__lib_1_1ServiceClientHandler.html#ac6babcda855d48bc3b8fc72f45f7672b">More...</a><br /></td></tr>
+<tr class="separator:ac6babcda855d48bc3b8fc72f45f7672b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class ServiceType&gt;<br />
+class mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</h3>
+
+<p>user wrapper of the service client handler implementation </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acf286dd2720d41fa05e98c7327d94413"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf286dd2720d41fa05e98c7327d94413">&#9670;&nbsp;</a></span>ServiceClientHandler() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::<a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a>&lt; ServiceType &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>copy constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6da5592ce8388bd1aa08b63fd3d3d060"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6da5592ce8388bd1aa08b63fd3d3d060">&#9670;&nbsp;</a></span>ServiceClientHandler() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::<a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>address</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handler </td></tr>
+    <tr><td class="paramname">address</td><td>service address </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="acd827db26db5d8e1f310769509176fe2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd827db26db5d8e1f310769509176fe2">&#9670;&nbsp;</a></span>call() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::call </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>"standard" synchronous call </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when success </dd></dl>
+
+</div>
+</div>
+<a id="a7eee51ebff7a805d425673ddc166d489"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7eee51ebff7a805d425673ddc166d489">&#9670;&nbsp;</a></span>call() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::call </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>"standard" synchronous call with repeats after failure </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attempts for the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when success </dd></dl>
+
+</div>
+</div>
+<a id="afdf41e0cf6b2fa0941ee0ae703facc71"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afdf41e0cf6b2fa0941ee0ae703facc71">&#9670;&nbsp;</a></span>call() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::call </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>repeat_delay</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>"standard" synchronous call with repeats after failure </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attempts for the call </td></tr>
+    <tr><td class="paramname">repeat_delay</td><td>how long to wait before repeating the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when success </dd></dl>
+
+</div>
+</div>
+<a id="aa7f3a5d1566aa2a361594797f162ca0d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa7f3a5d1566aa2a361594797f162ca0d">&#9670;&nbsp;</a></span>callAsync() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::future&lt; ServiceType &gt; <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::callAsync </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>asynchronous call </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>future result </dd></dl>
+
+</div>
+</div>
+<a id="a390d8d24962c3efd849f44627b29387e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a390d8d24962c3efd849f44627b29387e">&#9670;&nbsp;</a></span>callAsync() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::future&lt; ServiceType &gt; <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::callAsync </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>asynchronous call with repeats after failure </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attemps for the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>future result </dd></dl>
+
+</div>
+</div>
+<a id="ac6babcda855d48bc3b8fc72f45f7672b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6babcda855d48bc3b8fc72f45f7672b">&#9670;&nbsp;</a></span>callAsync() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::future&lt; ServiceType &gt; <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::callAsync </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>repeat_delay</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>asynchronous call with repeats after failure </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attemps for the call </td></tr>
+    <tr><td class="paramname">repeat_delay</td><td>how long to wait before repeating the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>future result </dd></dl>
+
+</div>
+</div>
+<a id="adff9526494a62051bf864ef6a7178450"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adff9526494a62051bf864ef6a7178450">&#9670;&nbsp;</a></span>initialize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::initialize </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>address</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>initializer </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handler </td></tr>
+    <tr><td class="paramname">address</td><td>service address </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a03d184432cd8b51f683746e87b071bdb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03d184432cd8b51f683746e87b071bdb">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a>&lt; ServiceType &gt; &amp; <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a>&lt; ServiceType &gt;::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a>&lt; ServiceType &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<p>operator= </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
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+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd></dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="service__client__handler_8h_source.html">service_client_handler.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="service__client__handler_8hpp_source.html">service_client_handler.hpp</a></li>
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
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+<div class="title">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">call</a>(ServiceType &amp;srv)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a35cc1c54991d1eb2801e2dfd205e1ef0">call</a>(ServiceType &amp;srv, const int &amp;attempts)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#aecd6585588ea75d444577651591fb847">call</a>(ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">callAsync</a>(ServiceType &amp;srv)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#acbc6113b775545e89e7fa4fd41cf15ed">callAsync</a>(ServiceType &amp;srv, const int &amp;attempts)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae15fc00b04219ae241e03c0973a00c5a">callAsync</a>(ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">ServiceClientHandler_impl</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a4ae10aba33d5d46013bf25a61c005ac0">ServiceClientHandler_impl</a>(ros::NodeHandle &amp;nh, const std::string &amp;address)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1">~ServiceClientHandler_impl</a>(void)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1ServiceClientHandler__impl.html b/classmrs__lib_1_1ServiceClientHandler__impl.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ServiceClientHandler__impl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>implementation of the service client handler  
+ <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="service__client__handler_8h_source.html">service_client_handler.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae1f6eb48630bf4d3eb9e92b95c6269c8"><td class="memItemLeft" align="right" valign="top"><a id="ae1f6eb48630bf4d3eb9e92b95c6269c8"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">ServiceClientHandler_impl</a> (void)</td></tr>
+<tr class="memdesc:ae1f6eb48630bf4d3eb9e92b95c6269c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">default constructor <br /></td></tr>
+<tr class="separator:ae1f6eb48630bf4d3eb9e92b95c6269c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d906a4c237db032edfb7578d0eb2be1"><td class="memItemLeft" align="right" valign="top"><a id="a2d906a4c237db032edfb7578d0eb2be1"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1">~ServiceClientHandler_impl</a> (void)</td></tr>
+<tr class="memdesc:a2d906a4c237db032edfb7578d0eb2be1"><td class="mdescLeft">&#160;</td><td class="mdescRight">default destructor <br /></td></tr>
+<tr class="separator:a2d906a4c237db032edfb7578d0eb2be1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ae10aba33d5d46013bf25a61c005ac0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a4ae10aba33d5d46013bf25a61c005ac0">ServiceClientHandler_impl</a> (ros::NodeHandle &amp;nh, const std::string &amp;address)</td></tr>
+<tr class="memdesc:a4ae10aba33d5d46013bf25a61c005ac0"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#a4ae10aba33d5d46013bf25a61c005ac0">More...</a><br /></td></tr>
+<tr class="separator:a4ae10aba33d5d46013bf25a61c005ac0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a50394dc3190eafbce4c58b20823942d6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">call</a> (ServiceType &amp;srv)</td></tr>
+<tr class="memdesc:a50394dc3190eafbce4c58b20823942d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">"classic" synchronous service call  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">More...</a><br /></td></tr>
+<tr class="separator:a50394dc3190eafbce4c58b20823942d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35cc1c54991d1eb2801e2dfd205e1ef0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a35cc1c54991d1eb2801e2dfd205e1ef0">call</a> (ServiceType &amp;srv, const int &amp;attempts)</td></tr>
+<tr class="memdesc:a35cc1c54991d1eb2801e2dfd205e1ef0"><td class="mdescLeft">&#160;</td><td class="mdescRight">"classic" synchronous service call with repeats after an error  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#a35cc1c54991d1eb2801e2dfd205e1ef0">More...</a><br /></td></tr>
+<tr class="separator:a35cc1c54991d1eb2801e2dfd205e1ef0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aecd6585588ea75d444577651591fb847"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#aecd6585588ea75d444577651591fb847">call</a> (ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td></tr>
+<tr class="memdesc:aecd6585588ea75d444577651591fb847"><td class="mdescLeft">&#160;</td><td class="mdescRight">"classic" synchronous service call with repeats after an error  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#aecd6585588ea75d444577651591fb847">More...</a><br /></td></tr>
+<tr class="separator:aecd6585588ea75d444577651591fb847"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a39ed1a2c10f97d75447224bd9cb9e968"><td class="memItemLeft" align="right" valign="top">std::future&lt; ServiceType &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">callAsync</a> (ServiceType &amp;srv)</td></tr>
+<tr class="memdesc:a39ed1a2c10f97d75447224bd9cb9e968"><td class="mdescLeft">&#160;</td><td class="mdescRight">asynchronous service call  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">More...</a><br /></td></tr>
+<tr class="separator:a39ed1a2c10f97d75447224bd9cb9e968"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acbc6113b775545e89e7fa4fd41cf15ed"><td class="memItemLeft" align="right" valign="top">std::future&lt; ServiceType &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#acbc6113b775545e89e7fa4fd41cf15ed">callAsync</a> (ServiceType &amp;srv, const int &amp;attempts)</td></tr>
+<tr class="memdesc:acbc6113b775545e89e7fa4fd41cf15ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">asynchronous service call with repeates after an error  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#acbc6113b775545e89e7fa4fd41cf15ed">More...</a><br /></td></tr>
+<tr class="separator:acbc6113b775545e89e7fa4fd41cf15ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae15fc00b04219ae241e03c0973a00c5a"><td class="memItemLeft" align="right" valign="top">std::future&lt; ServiceType &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae15fc00b04219ae241e03c0973a00c5a">callAsync</a> (ServiceType &amp;srv, const int &amp;attempts, const double &amp;repeat_delay)</td></tr>
+<tr class="memdesc:ae15fc00b04219ae241e03c0973a00c5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">asynchronous service call with repeates after an error  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae15fc00b04219ae241e03c0973a00c5a">More...</a><br /></td></tr>
+<tr class="separator:ae15fc00b04219ae241e03c0973a00c5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class ServiceType&gt;<br />
+class mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</h3>
+
+<p>implementation of the service client handler </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a4ae10aba33d5d46013bf25a61c005ac0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ae10aba33d5d46013bf25a61c005ac0">&#9670;&nbsp;</a></span>ServiceClientHandler_impl()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::<a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">ServiceClientHandler_impl</a> </td>
+          <td>(</td>
+          <td class="paramtype">ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>address</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ROS node handler </td></tr>
+    <tr><td class="paramname">address</td><td>service address </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a50394dc3190eafbce4c58b20823942d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50394dc3190eafbce4c58b20823942d6">&#9670;&nbsp;</a></span>call() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::call </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>"classic" synchronous service call </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when success </dd></dl>
+
+</div>
+</div>
+<a id="a35cc1c54991d1eb2801e2dfd205e1ef0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35cc1c54991d1eb2801e2dfd205e1ef0">&#9670;&nbsp;</a></span>call() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::call </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>"classic" synchronous service call with repeats after an error </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attempts for the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when success </dd></dl>
+
+</div>
+</div>
+<a id="aecd6585588ea75d444577651591fb847"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecd6585588ea75d444577651591fb847">&#9670;&nbsp;</a></span>call() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::call </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>repeat_delay</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>"classic" synchronous service call with repeats after an error </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attempts for the call </td></tr>
+    <tr><td class="paramname">repeat_delay</td><td>how long to wait before repeating the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true when success </dd></dl>
+
+</div>
+</div>
+<a id="a39ed1a2c10f97d75447224bd9cb9e968"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39ed1a2c10f97d75447224bd9cb9e968">&#9670;&nbsp;</a></span>callAsync() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::future&lt; ServiceType &gt; <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::callAsync </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>asynchronous service call </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>future result </dd></dl>
+
+</div>
+</div>
+<a id="acbc6113b775545e89e7fa4fd41cf15ed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acbc6113b775545e89e7fa4fd41cf15ed">&#9670;&nbsp;</a></span>callAsync() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::future&lt; ServiceType &gt; <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::callAsync </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>asynchronous service call with repeates after an error </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attempts for the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>future result </dd></dl>
+
+</div>
+</div>
+<a id="ae15fc00b04219ae241e03c0973a00c5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae15fc00b04219ae241e03c0973a00c5a">&#9670;&nbsp;</a></span>callAsync() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ServiceType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::future&lt; ServiceType &gt; <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a>&lt; ServiceType &gt;::callAsync </td>
+          <td>(</td>
+          <td class="paramtype">ServiceType &amp;&#160;</td>
+          <td class="paramname"><em>srv</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const int &amp;&#160;</td>
+          <td class="paramname"><em>attempts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>repeat_delay</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>asynchronous service call with repeates after an error </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv</td><td>data </td></tr>
+    <tr><td class="paramname">attempts</td><td>how many attempts for the call </td></tr>
+    <tr><td class="paramname">repeat_delay</td><td>how long to wait before repeating the call</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>future result </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="service__client__handler_8h_source.html">service_client_handler.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="service__client__handler_8hpp_source.html">service_client_handler.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">ServiceClientHandler_impl</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1ServiceClientHandler__impl.js b/classmrs__lib_1_1ServiceClientHandler__impl.js
new file mode 100644
index 00000000..ee5325c7
--- /dev/null
+++ b/classmrs__lib_1_1ServiceClientHandler__impl.js
@@ -0,0 +1,12 @@
+var classmrs__lib_1_1ServiceClientHandler__impl =
+[
+    [ "ServiceClientHandler_impl", "classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8", null ],
+    [ "~ServiceClientHandler_impl", "classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1", null ],
+    [ "ServiceClientHandler_impl", "classmrs__lib_1_1ServiceClientHandler__impl.html#a4ae10aba33d5d46013bf25a61c005ac0", null ],
+    [ "call", "classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6", null ],
+    [ "call", "classmrs__lib_1_1ServiceClientHandler__impl.html#a35cc1c54991d1eb2801e2dfd205e1ef0", null ],
+    [ "call", "classmrs__lib_1_1ServiceClientHandler__impl.html#aecd6585588ea75d444577651591fb847", null ],
+    [ "callAsync", "classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968", null ],
+    [ "callAsync", "classmrs__lib_1_1ServiceClientHandler__impl.html#acbc6113b775545e89e7fa4fd41cf15ed", null ],
+    [ "callAsync", "classmrs__lib_1_1ServiceClientHandler__impl.html#ae15fc00b04219ae241e03c0973a00c5a", null ]
+];
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<script type="text/javascript">
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+$(document).ready(function(){initNavTree('classmrs__lib_1_1SubscribeHandler.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::SubscribeHandler&lt; MessageType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">hasMsg</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">lastMsgTime</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">message_type</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">newMsg</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const SubscribeHandler &amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(SubscribeHandler &amp;&amp;other) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">peekMsg</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">start</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">stop</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a2ee619f8b6fe5ce56599752e63161b51">subscribedTopicName</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a13159347fe9f13d778d7c02f2d1b1a98">SubscribeHandler</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aaceb7739b06d44d7fe619418d5cecd4e">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, const std::string &amp;topic_name, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a40f16a8553532b9685feb4b33f342602">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, const message_callback_t &amp;message_callback={})</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aa625f9d69548da72d92f7e8a25b078e3">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, const timeout_callback_t &amp;timeout_callback, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab24f400bfd36d733366d25b63ec8889d">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, void(ObjectType1::*const timeout_callback)(const std::string &amp;topic_name, const ros::Time &amp;last_msg), ObjectType1 *const obj1, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a27ac792b1dfa8a62d087b565bec33925">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, void(ObjectType2::*const message_callback)(typename MessageType::ConstPtr), ObjectType2 *const obj2, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a14c1c92e119c047a3c40724f1152b7b9">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, void(ObjectType2::*const message_callback)(typename MessageType::ConstPtr), ObjectType2 *const obj2, void(ObjectType1::*const timeout_callback)(const std::string &amp;topic_name, const ros::Time &amp;last_msg), ObjectType1 *const obj1, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a367e7245e60ee2a87f680a27c0e1a8e5">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, const ros::Duration &amp;no_message_timeout, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab3499b8b5910450df90c905d1811e4a3">SubscribeHandler</a>(const SubscribeHandlerOptions &amp;options, mrs_lib::TimeoutManager &amp;timeout_manager, Types ... args)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>SubscribeHandler</b>(const SubscribeHandler &amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>SubscribeHandler</b>(SubscribeHandler &amp;&amp;other) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">timeout_callback_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">usedMsg</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">waitForNew</a>(const ros::WallDuration &amp;timeout)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~SubscribeHandler</b>()=default (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1SubscribeHandler.html b/classmrs__lib_1_1SubscribeHandler.html
new file mode 100644
index 00000000..454f7364
--- /dev/null
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1SubscribeHandler-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::SubscribeHandler&lt; MessageType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>The main class for ROS topic subscription, message timeout handling etc.  
+ <a href="classmrs__lib_1_1SubscribeHandler.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="subscribe__handler_8h_source.html">subscribe_handler.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">Impl</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">ImplThreadsafe</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aab546ccb302e3e05d8e97e9085f62b9a"><td class="memItemLeft" align="right" valign="top"><a id="aab546ccb302e3e05d8e97e9085f62b9a"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">message_type</a> = MessageType</td></tr>
+<tr class="memdesc:aab546ccb302e3e05d8e97e9085f62b9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience type for the template parameter to enable nice aliasing. <br /></td></tr>
+<tr class="separator:aab546ccb302e3e05d8e97e9085f62b9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">timeout_callback_t</a> = std::function&lt; void(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&gt;</td></tr>
+<tr class="memdesc:a6f12a82506c6967a8af9c2c878a1803a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type for the timeout callback function. <br /></td></tr>
+<tr class="separator:a6f12a82506c6967a8af9c2c878a1803a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38b7371b24896e5ea21f5a8dd2821cf6"><td class="memItemLeft" align="right" valign="top"><a id="a38b7371b24896e5ea21f5a8dd2821cf6"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a> = std::function&lt; void(typename MessageType::ConstPtr)&gt;</td></tr>
+<tr class="memdesc:a38b7371b24896e5ea21f5a8dd2821cf6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience type for the message callback function. <br /></td></tr>
+<tr class="separator:a38b7371b24896e5ea21f5a8dd2821cf6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a19a708c3f200ccfac2695a649b9d6e77"><td class="memItemLeft" align="right" valign="top">virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a> ()</td></tr>
+<tr class="memdesc:a19a708c3f200ccfac2695a649b9d6e77"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the last received message on the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. Use <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e" title="Used to check whether at least one message has been received on the handled topic.">hasMsg()</a> first to check if at least one message is available or <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3" title="Used to check whether at least one message has been received on the handled topic since the last call...">newMsg()</a> to check if a new message since the last call to <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> is available.  <a href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">More...</a><br /></td></tr>
+<tr class="separator:a19a708c3f200ccfac2695a649b9d6e77"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6638d8d589149edba21bf08fa571f18e"><td class="memItemLeft" align="right" valign="top">virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">peekMsg</a> () const</td></tr>
+<tr class="memdesc:a6638d8d589149edba21bf08fa571f18e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the last received message on the topic without modifying the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3" title="Used to check whether at least one message has been received on the handled topic since the last call...">newMsg()</a> or <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc" title="Used to check whether getMsg() was called at least once on this SubscribeHandler.">usedMsg()</a> flags.  <a href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">More...</a><br /></td></tr>
+<tr class="separator:a6638d8d589149edba21bf08fa571f18e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c6bcd07e10b60c70f02de2c6d5f632e"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">hasMsg</a> () const</td></tr>
+<tr class="memdesc:a9c6bcd07e10b60c70f02de2c6d5f632e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to check whether at least one message has been received on the handled topic.  <a href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">More...</a><br /></td></tr>
+<tr class="separator:a9c6bcd07e10b60c70f02de2c6d5f632e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a46bde5660a9480814caa801e2baf3cd3"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">newMsg</a> () const</td></tr>
+<tr class="memdesc:a46bde5660a9480814caa801e2baf3cd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to check whether at least one message has been received on the handled topic since the last call to <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a>.  <a href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">More...</a><br /></td></tr>
+<tr class="separator:a46bde5660a9480814caa801e2baf3cd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab027bb4a6edece35701e17ba0c137cfc"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">usedMsg</a> () const</td></tr>
+<tr class="memdesc:ab027bb4a6edece35701e17ba0c137cfc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to check whether <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> was called at least once on this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>.  <a href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">More...</a><br /></td></tr>
+<tr class="separator:ab027bb4a6edece35701e17ba0c137cfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f4bedf9229325ca6a14202f5cfbcc5"><td class="memItemLeft" align="right" valign="top">virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">waitForNew</a> (const ros::WallDuration &amp;timeout)</td></tr>
+<tr class="memdesc:a94f4bedf9229325ca6a14202f5cfbcc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.  <a href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">More...</a><br /></td></tr>
+<tr class="separator:a94f4bedf9229325ca6a14202f5cfbcc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab96777b29e74827ad109346504565f9b"><td class="memItemLeft" align="right" valign="top">virtual ros::Time&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">lastMsgTime</a> () const</td></tr>
+<tr class="memdesc:ab96777b29e74827ad109346504565f9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns time of the last received message on the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>.  <a href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">More...</a><br /></td></tr>
+<tr class="separator:ab96777b29e74827ad109346504565f9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a512ffa88a2164e420f1c4a6ae1823e68"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a> () const</td></tr>
+<tr class="memdesc:a512ffa88a2164e420f1c4a6ae1823e68"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the resolved (full) name of the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>.  <a href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">More...</a><br /></td></tr>
+<tr class="separator:a512ffa88a2164e420f1c4a6ae1823e68"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2ee619f8b6fe5ce56599752e63161b51"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a2ee619f8b6fe5ce56599752e63161b51">subscribedTopicName</a> () const</td></tr>
+<tr class="memdesc:a2ee619f8b6fe5ce56599752e63161b51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the subscribed (unresolved) name of the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>.  <a href="classmrs__lib_1_1SubscribeHandler.html#a2ee619f8b6fe5ce56599752e63161b51">More...</a><br /></td></tr>
+<tr class="separator:a2ee619f8b6fe5ce56599752e63161b51"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8bc123e16de75e3b6c00724b817eaaf"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">start</a> ()</td></tr>
+<tr class="memdesc:af8bc123e16de75e3b6c00724b817eaaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enables the callbacks for the handled topic.  <a href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">More...</a><br /></td></tr>
+<tr class="separator:af8bc123e16de75e3b6c00724b817eaaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a36a097cf480a16bf239885be6e35b5d0"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">stop</a> ()</td></tr>
+<tr class="memdesc:a36a097cf480a16bf239885be6e35b5d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disables the callbacks for the handled topic.  <a href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">More...</a><br /></td></tr>
+<tr class="separator:a36a097cf480a16bf239885be6e35b5d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13159347fe9f13d778d7c02f2d1b1a98"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a13159347fe9f13d778d7c02f2d1b1a98">SubscribeHandler</a> ()</td></tr>
+<tr class="memdesc:a13159347fe9f13d778d7c02f2d1b1a98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor to avoid having to use pointers.  <a href="classmrs__lib_1_1SubscribeHandler.html#a13159347fe9f13d778d7c02f2d1b1a98">More...</a><br /></td></tr>
+<tr class="separator:a13159347fe9f13d778d7c02f2d1b1a98"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaceb7739b06d44d7fe619418d5cecd4e"><td class="memTemplParams" colspan="2">template&lt;class ... Types&gt; </td></tr>
+<tr class="memitem:aaceb7739b06d44d7fe619418d5cecd4e"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aaceb7739b06d44d7fe619418d5cecd4e">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const std::string &amp;topic_name, Types ... args)</td></tr>
+<tr class="memdesc:aaceb7739b06d44d7fe619418d5cecd4e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main constructor.  <a href="classmrs__lib_1_1SubscribeHandler.html#aaceb7739b06d44d7fe619418d5cecd4e">More...</a><br /></td></tr>
+<tr class="separator:aaceb7739b06d44d7fe619418d5cecd4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40f16a8553532b9685feb4b33f342602"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a40f16a8553532b9685feb4b33f342602">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a> &amp;message_callback={})</td></tr>
+<tr class="memdesc:a40f16a8553532b9685feb4b33f342602"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#a40f16a8553532b9685feb4b33f342602">More...</a><br /></td></tr>
+<tr class="separator:a40f16a8553532b9685feb4b33f342602"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa625f9d69548da72d92f7e8a25b078e3"><td class="memTemplParams" colspan="2">template&lt;class ... Types&gt; </td></tr>
+<tr class="memitem:aa625f9d69548da72d92f7e8a25b078e3"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aa625f9d69548da72d92f7e8a25b078e3">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">timeout_callback_t</a> &amp;timeout_callback, Types ... args)</td></tr>
+<tr class="memdesc:aa625f9d69548da72d92f7e8a25b078e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#aa625f9d69548da72d92f7e8a25b078e3">More...</a><br /></td></tr>
+<tr class="separator:aa625f9d69548da72d92f7e8a25b078e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab24f400bfd36d733366d25b63ec8889d"><td class="memTemplParams" colspan="2">template&lt;class ObjectType1 , class ... Types&gt; </td></tr>
+<tr class="memitem:ab24f400bfd36d733366d25b63ec8889d"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab24f400bfd36d733366d25b63ec8889d">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, void(ObjectType1::*const timeout_callback)(const std::string &amp;topic_name, const ros::Time &amp;last_msg), ObjectType1 *const obj1, Types ... args)</td></tr>
+<tr class="memdesc:ab24f400bfd36d733366d25b63ec8889d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#ab24f400bfd36d733366d25b63ec8889d">More...</a><br /></td></tr>
+<tr class="separator:ab24f400bfd36d733366d25b63ec8889d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a27ac792b1dfa8a62d087b565bec33925"><td class="memTemplParams" colspan="2">template&lt;class ObjectType2 , class ... Types&gt; </td></tr>
+<tr class="memitem:a27ac792b1dfa8a62d087b565bec33925"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a27ac792b1dfa8a62d087b565bec33925">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, void(ObjectType2::*const message_callback)(typename MessageType::ConstPtr), ObjectType2 *const obj2, Types ... args)</td></tr>
+<tr class="memdesc:a27ac792b1dfa8a62d087b565bec33925"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#a27ac792b1dfa8a62d087b565bec33925">More...</a><br /></td></tr>
+<tr class="separator:a27ac792b1dfa8a62d087b565bec33925"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a14c1c92e119c047a3c40724f1152b7b9"><td class="memTemplParams" colspan="2">template&lt;class ObjectType1 , class ObjectType2 , class ... Types&gt; </td></tr>
+<tr class="memitem:a14c1c92e119c047a3c40724f1152b7b9"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a14c1c92e119c047a3c40724f1152b7b9">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, void(ObjectType2::*const message_callback)(typename MessageType::ConstPtr), ObjectType2 *const obj2, void(ObjectType1::*const timeout_callback)(const std::string &amp;topic_name, const ros::Time &amp;last_msg), ObjectType1 *const obj1, Types ... args)</td></tr>
+<tr class="memdesc:a14c1c92e119c047a3c40724f1152b7b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#a14c1c92e119c047a3c40724f1152b7b9">More...</a><br /></td></tr>
+<tr class="separator:a14c1c92e119c047a3c40724f1152b7b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a367e7245e60ee2a87f680a27c0e1a8e5"><td class="memTemplParams" colspan="2">template&lt;class ... Types&gt; </td></tr>
+<tr class="memitem:a367e7245e60ee2a87f680a27c0e1a8e5"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a367e7245e60ee2a87f680a27c0e1a8e5">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const ros::Duration &amp;no_message_timeout, Types ... args)</td></tr>
+<tr class="memdesc:a367e7245e60ee2a87f680a27c0e1a8e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#a367e7245e60ee2a87f680a27c0e1a8e5">More...</a><br /></td></tr>
+<tr class="separator:a367e7245e60ee2a87f680a27c0e1a8e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3499b8b5910450df90c905d1811e4a3"><td class="memTemplParams" colspan="2">template&lt;class ... Types&gt; </td></tr>
+<tr class="memitem:ab3499b8b5910450df90c905d1811e4a3"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab3499b8b5910450df90c905d1811e4a3">SubscribeHandler</a> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a> &amp;timeout_manager, Types ... args)</td></tr>
+<tr class="memdesc:ab3499b8b5910450df90c905d1811e4a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience constructor overload.  <a href="classmrs__lib_1_1SubscribeHandler.html#ab3499b8b5910450df90c905d1811e4a3">More...</a><br /></td></tr>
+<tr class="separator:ab3499b8b5910450df90c905d1811e4a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07bab35d51c35fa0498a179f2038e393"><td class="memItemLeft" align="right" valign="top"><a id="a07bab35d51c35fa0498a179f2038e393"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>SubscribeHandler</b> (const <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> &amp;)=delete</td></tr>
+<tr class="separator:a07bab35d51c35fa0498a179f2038e393"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a97d2dff2ee17407fd2981d5682bea986"><td class="memItemLeft" align="right" valign="top"><a id="a97d2dff2ee17407fd2981d5682bea986"></a>
+<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> &amp;)=delete</td></tr>
+<tr class="separator:a97d2dff2ee17407fd2981d5682bea986"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7f9384fb3e3f96f53fc7c1023a0386c5"><td class="memItemLeft" align="right" valign="top"><a id="a7f9384fb3e3f96f53fc7c1023a0386c5"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>SubscribeHandler</b> (<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> &amp;&amp;other)</td></tr>
+<tr class="separator:a7f9384fb3e3f96f53fc7c1023a0386c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a819be17785380080c27761374e17cecc"><td class="memItemLeft" align="right" valign="top"><a id="a819be17785380080c27761374e17cecc"></a>
+<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> &amp;&amp;other)</td></tr>
+<tr class="separator:a819be17785380080c27761374e17cecc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename MessageType&gt;<br />
+class mrs_lib::SubscribeHandler&lt; MessageType &gt;</h3>
+
+<p>The main class for ROS topic subscription, message timeout handling etc. </p>
+<p>This class handles the raw ROS Subscriber for a specified topic. The last message received on the topic is remembered and may be retrieved by calling the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> method. To check whether at least one message was received, use <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e" title="Used to check whether at least one message has been received on the handled topic.">hasMsg()</a> (if no message was received and you call <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a>, a nullptr is returned and an error message is printed). To check whether a new message has arrived since the last call to <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a>, use <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3" title="Used to check whether at least one message has been received on the handled topic since the last call...">newMsg()</a> (useful to check whether a new message needs to be processed in a loop or ROS Timer callback).</p>
+<p>A timeout callback function may be specified, which is called if no message is received on the topic for a specified timeout (use the <code>timeout_callback</code> and <code>no_message_timeout</code> parameters). If the timeout callback is not set by the user, an error message is printed to the console after the timeout by default.</p>
+<p>A message callback function may be specified, which is called whenever a new message is received (use the <code>message_callback</code> parameter).</p>
+<p>The callbacks and timeouts may be stopped and started using the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0" title="Disables the callbacks for the handled topic.">stop()</a> and <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf" title="Enables the callbacks for the handled topic.">start()</a> methods.</p>
+<p>For more details, see the example below (I recommend starting with the simple_example which covers most use-cases). </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="subscribe_handler_2example_8cpp-example.html#_a2">subscribe_handler/example.cpp</a>, and <a class="el" href="subscribe_handler_2simple_example_8cpp-example.html#_a3">subscribe_handler/simple_example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a13159347fe9f13d778d7c02f2d1b1a98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13159347fe9f13d778d7c02f2d1b1a98">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[1/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Default constructor to avoid having to use pointers. </p>
+<p>It does nothing and the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> it constructs will also do nothing. Use some of the other constructors for actual construction of a usable <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. </p>
+
+</div>
+</div>
+<a id="aaceb7739b06d44d7fe619418d5cecd4e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaceb7739b06d44d7fe619418d5cecd4e">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[2/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>topic_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">topic_name</td><td>Name of the topic to be handled by this subscribed. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a40f16a8553532b9685feb4b33f342602"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40f16a8553532b9685feb4b33f342602">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[3/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>message_callback</em> = <code>{}</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">message_callback</td><td>The callback function to call when a new message is received (you can leave this argument empty and just use the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3" title="Used to check whether at least one message has been received on the handled topic since the last call...">newMsg()</a>/hasMsg() and <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> interface). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa625f9d69548da72d92f7e8a25b078e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa625f9d69548da72d92f7e8a25b078e3">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[4/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">timeout_callback_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>timeout_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">timeout_callback</td><td>The callback function to call when a new message is not received for the duration, specified in <code>options</code> or in the <code>no_message_timeout</code> parameter. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab24f400bfd36d733366d25b63ec8889d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab24f400bfd36d733366d25b63ec8889d">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[5/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ObjectType1 , class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType1::*)(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&#160;</td>
+          <td class="paramname"><em>timeout_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType1 *const&#160;</td>
+          <td class="paramname"><em>obj1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">timeout_callback</td><td>The callback method to call when a new message is not received for the duration, specified in <code>options</code> or in the <code>no_message_timeout</code> parameter. </td></tr>
+    <tr><td class="paramname">obj1</td><td>The object on which the callback method <code>timeout_callback</code> will be called. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a27ac792b1dfa8a62d087b565bec33925"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27ac792b1dfa8a62d087b565bec33925">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[6/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ObjectType2 , class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType2::*)(typename MessageType::ConstPtr)&#160;</td>
+          <td class="paramname"><em>message_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType2 *const&#160;</td>
+          <td class="paramname"><em>obj2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">message_callback</td><td>The callback method to call when a new message is received. </td></tr>
+    <tr><td class="paramname">obj2</td><td>The object on which the callback method <code>timeout_callback</code> will be called. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a14c1c92e119c047a3c40724f1152b7b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a14c1c92e119c047a3c40724f1152b7b9">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[7/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ObjectType1 , class ObjectType2 , class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType2::*)(typename MessageType::ConstPtr)&#160;</td>
+          <td class="paramname"><em>message_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType2 *const&#160;</td>
+          <td class="paramname"><em>obj2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType1::*)(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&#160;</td>
+          <td class="paramname"><em>timeout_callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType1 *const&#160;</td>
+          <td class="paramname"><em>obj1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">message_callback</td><td>The callback method to call when a new message is received. </td></tr>
+    <tr><td class="paramname">obj2</td><td>The object on which the callback method <code>timeout_callback</code> will be called. </td></tr>
+    <tr><td class="paramname">timeout_callback</td><td>The callback method to call when a new message is not received for the duration, specified in <code>options</code> or in the <code>no_message_timeout</code> parameter. </td></tr>
+    <tr><td class="paramname">obj1</td><td>The object on which the callback method <code>timeout_callback</code> will be called. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a367e7245e60ee2a87f680a27c0e1a8e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a367e7245e60ee2a87f680a27c0e1a8e5">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[8/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>no_message_timeout</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">no_message_timeout</td><td>If no message is received for this duration, the timeout callback function is called. If no timeout callback is specified, an error message is printed to the console. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab3499b8b5910450df90c905d1811e4a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3499b8b5910450df90c905d1811e4a3">&#9670;&nbsp;</a></span>SubscribeHandler() <span class="overload">[9/9]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<div class="memtemplate">
+template&lt;class ... Types&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::<a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;&#160;</td>
+          <td class="paramname"><em>options</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a> &amp;&#160;</td>
+          <td class="paramname"><em>timeout_manager</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Convenience constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">options</td><td>The common options struct (see documentation of <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" title="A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...">SubscribeHandlerOptions</a>). </td></tr>
+    <tr><td class="paramname">timeout_manager</td><td>The manager for timeout callbacks. </td></tr>
+    <tr><td class="paramname">args</td><td>Remaining arguments to be parsed (see other constructors). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a19a708c3f200ccfac2695a649b9d6e77"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19a708c3f200ccfac2695a649b9d6e77">&#9670;&nbsp;</a></span>getMsg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual MessageType::ConstPtr <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::getMsg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the last received message on the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. Use <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e" title="Used to check whether at least one message has been received on the handled topic.">hasMsg()</a> first to check if at least one message is available or <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3" title="Used to check whether at least one message has been received on the handled topic since the last call...">newMsg()</a> to check if a new message since the last call to <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> is available. </p>
+<dl class="section return"><dt>Returns</dt><dd>the last received message. </dd></dl>
+
+</div>
+</div>
+<a id="a9c6bcd07e10b60c70f02de2c6d5f632e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c6bcd07e10b60c70f02de2c6d5f632e">&#9670;&nbsp;</a></span>hasMsg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::hasMsg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to check whether at least one message has been received on the handled topic. </p>
+<dl class="section return"><dt>Returns</dt><dd>true if at least one message was received, otherwise false. </dd></dl>
+
+</div>
+</div>
+<a id="ab96777b29e74827ad109346504565f9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab96777b29e74827ad109346504565f9b">&#9670;&nbsp;</a></span>lastMsgTime()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual ros::Time <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::lastMsgTime </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns time of the last received message on the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>time when the last message was received. </dd></dl>
+
+</div>
+</div>
+<a id="a46bde5660a9480814caa801e2baf3cd3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46bde5660a9480814caa801e2baf3cd3">&#9670;&nbsp;</a></span>newMsg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::newMsg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to check whether at least one message has been received on the handled topic since the last call to <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>true if at least one message was received, otherwise false. </dd></dl>
+
+</div>
+</div>
+<a id="a6638d8d589149edba21bf08fa571f18e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6638d8d589149edba21bf08fa571f18e">&#9670;&nbsp;</a></span>peekMsg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual MessageType::ConstPtr <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::peekMsg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the last received message on the topic without modifying the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3" title="Used to check whether at least one message has been received on the handled topic since the last call...">newMsg()</a> or <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc" title="Used to check whether getMsg() was called at least once on this SubscribeHandler.">usedMsg()</a> flags. </p>
+<dl class="section return"><dt>Returns</dt><dd>the last received message. </dd></dl>
+
+</div>
+</div>
+<a id="af8bc123e16de75e3b6c00724b817eaaf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8bc123e16de75e3b6c00724b817eaaf">&#9670;&nbsp;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::start </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enables the callbacks for the handled topic. </p>
+<p>If the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> object is stopped using the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0" title="Disables the callbacks for the handled topic.">stop()</a> method, no callbacks will be called until the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf" title="Enables the callbacks for the handled topic.">start()</a> method is called. </p>
+
+</div>
+</div>
+<a id="a36a097cf480a16bf239885be6e35b5d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36a097cf480a16bf239885be6e35b5d0">&#9670;&nbsp;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Disables the callbacks for the handled topic. </p>
+<p>All messages after this method is called will be ignored until <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf" title="Enables the callbacks for the handled topic.">start()</a> is called again. Timeout checking will also be disabled. </p>
+
+</div>
+</div>
+<a id="a2ee619f8b6fe5ce56599752e63161b51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ee619f8b6fe5ce56599752e63161b51">&#9670;&nbsp;</a></span>subscribedTopicName()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::string <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::subscribedTopicName </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the subscribed (unresolved) name of the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>name of the handled topic. </dd></dl>
+
+</div>
+</div>
+<a id="a512ffa88a2164e420f1c4a6ae1823e68"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a512ffa88a2164e420f1c4a6ae1823e68">&#9670;&nbsp;</a></span>topicName()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::string <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::topicName </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the resolved (full) name of the topic, handled by this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>name of the handled topic. </dd></dl>
+
+</div>
+</div>
+<a id="ab027bb4a6edece35701e17ba0c137cfc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab027bb4a6edece35701e17ba0c137cfc">&#9670;&nbsp;</a></span>usedMsg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::usedMsg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Used to check whether <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> was called at least once on this <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a>. </p>
+<dl class="section return"><dt>Returns</dt><dd>true if <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77" title="Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...">getMsg()</a> was called at least once, otherwise false. </dd></dl>
+
+</div>
+</div>
+<a id="a94f4bedf9229325ca6a14202f5cfbcc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94f4bedf9229325ca6a14202f5cfbcc5">&#9670;&nbsp;</a></span>waitForNew()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename MessageType &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual MessageType::ConstPtr <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a>&lt; MessageType &gt;::waitForNew </td>
+          <td>(</td>
+          <td class="paramtype">const ros::WallDuration &amp;&#160;</td>
+          <td class="paramname"><em>timeout</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up. </p>
+<dl class="section return"><dt>Returns</dt><dd>the message if a new message is available after waking up, <code>nullptr</code> otherwise. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="subscribe__handler_8h_source.html">subscribe_handler.h</a></li>
+</ul>
+</div><!-- contents -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>data_callback</b>(const typename MessageType::ConstPtr &amp;msg) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>data_callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>default_timeout_callback</b>(const std::string &amp;topic_name, const ros::Time &amp;last_msg) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getMsg</b>() (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>hasMsg</b>() const (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Impl</b>(const SubscribeHandlerOptions &amp;options, const message_callback_t &amp;message_callback=message_callback_t()) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>lastMsgTime</b>() const (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_got_data</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_latest_message</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_latest_message_time</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_message_callback</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_new_data</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_new_data_cv</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_new_data_mtx</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_nh</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_node_name</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_sub</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_timeout_id</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_timeout_manager</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_topic_name</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_used_data</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>message_callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>newMsg</b>() const (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>peekMsg</b>() const (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>process_new_message</b>(const typename MessageType::ConstPtr &amp;msg) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>start</b>() (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>stop</b>() (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>SubscribeHandler&lt; MessageType &gt;</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>timeout_callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>topicName</b>() const (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>usedMsg</b>() const (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>waitForNew</b>(const ros::WallDuration &amp;timeout) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~Impl</b>()=default (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1SubscribeHandler_1_1Impl.html b/classmrs__lib_1_1SubscribeHandler_1_1Impl.html
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classmrs__lib_1_1SubscribeHandler_1_1Impl-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1SubscribeHandler_1_1Impl__inherit__graph.png" border="0" usemap="#mrs__lib_1_1SubscribeHandler_3_01MessageType_01_4_1_1Impl_3_01MessageType_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1SubscribeHandler_3_01MessageType_01_4_1_1Impl_3_01MessageType_01_4_inherit__map" id="mrs__lib_1_1SubscribeHandler_3_01MessageType_01_4_1_1Impl_3_01MessageType_01_4_inherit__map">
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:aa65463365778487a41552febfe3931d6"><td class="memItemLeft" align="right" valign="top"><a id="aa65463365778487a41552febfe3931d6"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>timeout_callback_t</b> = typename <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt; MessageType &gt;::timeout_callback_t</td></tr>
+<tr class="separator:aa65463365778487a41552febfe3931d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19157dcc4440a0fa0e283a17f19d5485"><td class="memItemLeft" align="right" valign="top"><a id="a19157dcc4440a0fa0e283a17f19d5485"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>message_callback_t</b> = typename <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt; MessageType &gt;::message_callback_t</td></tr>
+<tr class="separator:a19157dcc4440a0fa0e283a17f19d5485"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a89bb4d49903f55eb790ead15582ccd05"><td class="memItemLeft" align="right" valign="top"><a id="a89bb4d49903f55eb790ead15582ccd05"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>data_callback_t</b> = std::function&lt; void(const typename MessageType::ConstPtr &amp;)&gt;</td></tr>
+<tr class="separator:a89bb4d49903f55eb790ead15582ccd05"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ada5369f408df3cabd3a25a795e76eb49"><td class="memItemLeft" align="right" valign="top"><a id="ada5369f408df3cabd3a25a795e76eb49"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>Impl</b> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const message_callback_t &amp;message_callback=message_callback_t())</td></tr>
+<tr class="separator:ada5369f408df3cabd3a25a795e76eb49"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61d2ef76608dc33a70c76847f57e85fe"><td class="memItemLeft" align="right" valign="top"><a id="a61d2ef76608dc33a70c76847f57e85fe"></a>
+virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>getMsg</b> ()</td></tr>
+<tr class="separator:a61d2ef76608dc33a70c76847f57e85fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:affc322724df698018685f231ee268dc0"><td class="memItemLeft" align="right" valign="top"><a id="affc322724df698018685f231ee268dc0"></a>
+virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>peekMsg</b> () const</td></tr>
+<tr class="separator:affc322724df698018685f231ee268dc0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>hasMsg</b> () const</td></tr>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>data_callback</b>(const typename MessageType::ConstPtr &amp;msg) override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>data_callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>default_timeout_callback</b>(const std::string &amp;topic_name, const ros::Time &amp;last_msg) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getMsg</b>() override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>hasMsg</b>() const override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Impl</b>(const SubscribeHandlerOptions &amp;options, const message_callback_t &amp;message_callback=message_callback_t()) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ImplThreadsafe</b>(const SubscribeHandlerOptions &amp;options, const message_callback_t &amp;message_callback=message_callback_t()) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>lastMsgTime</b>() const override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_got_data</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_latest_message</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_latest_message_time</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_message_callback</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_new_data</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_new_data_cv</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_new_data_mtx</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_nh</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_node_name</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_sub</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_timeout_id</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_timeout_manager</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_topic_name</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_used_data</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>message_callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>newMsg</b>() const override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>peekMsg</b>() const override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>process_new_message</b>(const typename MessageType::ConstPtr &amp;msg) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>start</b>() override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>stop</b>() override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>SubscribeHandler&lt; MessageType &gt;</b> (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>timeout_callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>topicName</b>() const override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>usedMsg</b>() const override (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>waitForNew</b>(const ros::WallDuration &amp;timeout) (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~Impl</b>()=default (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~ImplThreadsafe</b>() override=default (defined in <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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diff --git a/classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html b/classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html
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@@ -0,0 +1,258 @@
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#friends">Friends</a> &#124;
+<a href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe__inherit__graph.png" border="0" usemap="#mrs__lib_1_1SubscribeHandler_3_01MessageType_01_4_1_1ImplThreadsafe_3_01MessageType_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe__coll__graph.png" border="0" usemap="#mrs__lib_1_1SubscribeHandler_3_01MessageType_01_4_1_1ImplThreadsafe_3_01MessageType_01_4_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a3a9882fa62b740b62e627dd49525be0c"><td class="memItemLeft" align="right" valign="top"><a id="a3a9882fa62b740b62e627dd49525be0c"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>timeout_callback_t</b> = typename impl_class_t::timeout_callback_t</td></tr>
+<tr class="separator:a3a9882fa62b740b62e627dd49525be0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e7cb71939d6a240d0bc832af779aa19"><td class="memItemLeft" align="right" valign="top"><a id="a9e7cb71939d6a240d0bc832af779aa19"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>message_callback_t</b> = typename impl_class_t::message_callback_t</td></tr>
+<tr class="separator:a9e7cb71939d6a240d0bc832af779aa19"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1SubscribeHandler_1_1Impl')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td></tr>
+<tr class="memitem:aa65463365778487a41552febfe3931d6 inherit pub_types_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memItemLeft" align="right" valign="top"><a id="aa65463365778487a41552febfe3931d6"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>timeout_callback_t</b> = typename <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt; MessageType &gt;::timeout_callback_t</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>message_callback_t</b> = typename <a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt; MessageType &gt;::message_callback_t</td></tr>
+<tr class="separator:a19157dcc4440a0fa0e283a17f19d5485 inherit pub_types_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>data_callback_t</b> = std::function&lt; void(const typename MessageType::ConstPtr &amp;)&gt;</td></tr>
+<tr class="separator:a89bb4d49903f55eb790ead15582ccd05 inherit pub_types_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a38d1a156c17a76eb9ef72d2d97732a42"><td class="memItemLeft" align="right" valign="top"><a id="a38d1a156c17a76eb9ef72d2d97732a42"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>ImplThreadsafe</b> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const message_callback_t &amp;message_callback=message_callback_t())</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>hasMsg</b> () const override</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>newMsg</b> () const override</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>usedMsg</b> () const override</td></tr>
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+virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>getMsg</b> () override</td></tr>
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+virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>peekMsg</b> () const override</td></tr>
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+virtual ros::Time&#160;</td><td class="memItemRight" valign="bottom"><b>lastMsgTime</b> () const override</td></tr>
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+virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><b>topicName</b> () const override</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>start</b> () override</td></tr>
+<tr class="separator:a587dd0aae17d21da6f6e4a070a2ff320"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>stop</b> () override</td></tr>
+<tr class="separator:aee90c5d7a54e567cddf382f01ed8eae4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td></tr>
+<tr class="memitem:ada5369f408df3cabd3a25a795e76eb49 inherit pub_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memItemLeft" align="right" valign="top"><a id="ada5369f408df3cabd3a25a795e76eb49"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>Impl</b> (const <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a> &amp;options, const message_callback_t &amp;message_callback=message_callback_t())</td></tr>
+<tr class="separator:ada5369f408df3cabd3a25a795e76eb49 inherit pub_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual MessageType::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>waitForNew</b> (const ros::WallDuration &amp;timeout)</td></tr>
+<tr class="separator:acd9e00eba5485260f3298fe1ee0bc983 inherit pub_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a441aee22642f0d5471520693ba2898c3"><td class="memItemLeft" align="right" valign="top"><a id="a441aee22642f0d5471520693ba2898c3"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>data_callback</b> (const typename MessageType::ConstPtr &amp;msg) override</td></tr>
+<tr class="separator:a441aee22642f0d5471520693ba2898c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classmrs__lib_1_1SubscribeHandler_1_1Impl')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>default_timeout_callback</b> (const std::string &amp;topic_name, const ros::Time &amp;last_msg)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>process_new_message</b> (const typename MessageType::ConstPtr &amp;msg)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
+Friends</h2></td></tr>
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+class&#160;</td><td class="memItemRight" valign="bottom"><b>SubscribeHandler&lt; MessageType &gt;</b></td></tr>
+<tr class="separator:a5d89598edbe518d7c8361ffee1338b1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classmrs__lib_1_1SubscribeHandler_1_1Impl')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td></tr>
+<tr class="memitem:ad7ea1462737db59b6f5fc24cef317bde inherit pro_attribs_classmrs__lib_1_1SubscribeHandler_1_1Impl"><td class="memItemLeft" align="right" valign="top"><a id="ad7ea1462737db59b6f5fc24cef317bde"></a>
+ros::NodeHandle&#160;</td><td class="memItemRight" valign="bottom"><b>m_nh</b></td></tr>
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+ros::Subscriber&#160;</td><td class="memItemRight" valign="bottom"><b>m_sub</b></td></tr>
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+std::string&#160;</td><td class="memItemRight" valign="bottom"><b>m_topic_name</b></td></tr>
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+std::string&#160;</td><td class="memItemRight" valign="bottom"><b>m_node_name</b></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_got_data</b></td></tr>
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+std::mutex&#160;</td><td class="memItemRight" valign="bottom"><b>m_new_data_mtx</b></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_new_data</b></td></tr>
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+bool&#160;</td><td class="memItemRight" valign="bottom"><b>m_used_data</b></td></tr>
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+std::shared_ptr&lt; <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>m_timeout_manager</b></td></tr>
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+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/impl/<a class="el" href="subscribe__handler_8hpp_source.html">subscribe_handler.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">ImplThreadsafe</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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diff --git a/classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.js b/classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.js
new file mode 100644
index 00000000..ac3fbcc9
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+++ b/classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.js
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+var classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe =
+[
+    [ "message_callback_t", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a9e7cb71939d6a240d0bc832af779aa19", null ],
+    [ "timeout_callback_t", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a3a9882fa62b740b62e627dd49525be0c", null ],
+    [ "ImplThreadsafe", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a38d1a156c17a76eb9ef72d2d97732a42", null ],
+    [ "~ImplThreadsafe", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a3af936a107fd3f114aa61b996113a51f", null ],
+    [ "data_callback", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a441aee22642f0d5471520693ba2898c3", null ],
+    [ "getMsg", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a789925f2ea5df5120d8ca21007b86fb3", null ],
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+    [ "start", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a587dd0aae17d21da6f6e4a070a2ff320", null ],
+    [ "stop", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#aee90c5d7a54e567cddf382f01ed8eae4", null ],
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+    [ "usedMsg", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#ae65eaec53030b58b0fc686672a267b9f", null ],
+    [ "SubscribeHandler< MessageType >", "classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html#a5d89598edbe518d7c8361ffee1338b1f", null ]
+];
\ No newline at end of file
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diff --git a/classmrs__lib_1_1ThreadTimer-members.html b/classmrs__lib_1_1ThreadTimer-members.html
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::ThreadTimer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>MRSTimer</b>(const MRSTimer &amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>MRSTimer</b>(MRSTimer &amp;&amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>MRSTimer</b>()=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const ThreadTimer &amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(ThreadTimer &amp;&amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const MRSTimer &amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator=</b>(MRSTimer &amp;&amp;)=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">running</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">setPeriod</a>(const ros::Duration &amp;duration, const bool reset=true) override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">start</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">stop</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ThreadTimer</b>() (defined in <a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#ac2e365201eccac6aae67400e4da4438f">ThreadTimer</a>(const ros::NodeHandle &amp;nh, const ros::Rate &amp;rate, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a2ccbea65e537f1f73da1fa75f37833fc">ThreadTimer</a>(const ros::NodeHandle &amp;nh, const ros::Duration &amp;duration, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, bool oneshot=false, const bool autostart=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ThreadTimer</b>(const ThreadTimer &amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ThreadTimer</b>(ThreadTimer &amp;&amp;)=delete (defined in <a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~MRSTimer</b>()=default (defined in <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">~ThreadTimer</a>() override</td><td class="entry"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1ThreadTimer.html b/classmrs__lib_1_1ThreadTimer.html
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+<title>mrs_lib: mrs_lib::ThreadTimer Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1ThreadTimer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::ThreadTimer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Custom thread-based Timers with the same interface as <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">mrs_lib::ROSTimer</a>.  
+ <a href="classmrs__lib_1_1ThreadTimer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="timer_8h_source.html">timer.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::ThreadTimer:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1ThreadTimer__inherit__graph.png" border="0" usemap="#mrs__lib_1_1ThreadTimer_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1ThreadTimer_inherit__map" id="mrs__lib_1_1ThreadTimer_inherit__map">
+<area shape="rect" title="Custom thread&#45;based Timers with the same interface as mrs_lib::ROSTimer." alt="" coords="5,80,167,107"/>
+<area shape="rect" href="classmrs__lib_1_1MRSTimer.html" title="Common wrapper representing the functionality of the ros::Timer." alt="" coords="13,5,159,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::ThreadTimer:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1ThreadTimer__coll__graph.png" border="0" usemap="#mrs__lib_1_1ThreadTimer_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1ThreadTimer_coll__map" id="mrs__lib_1_1ThreadTimer_coll__map">
+<area shape="rect" title="Custom thread&#45;based Timers with the same interface as mrs_lib::ROSTimer." alt="" coords="5,80,167,107"/>
+<area shape="rect" href="classmrs__lib_1_1MRSTimer.html" title="Common wrapper representing the functionality of the ros::Timer." alt="" coords="13,5,159,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ac2e365201eccac6aae67400e4da4438f"><td class="memTemplParams" colspan="2">template&lt;class ObjectType &gt; </td></tr>
+<tr class="memitem:ac2e365201eccac6aae67400e4da4438f"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#ac2e365201eccac6aae67400e4da4438f">ThreadTimer</a> (const ros::NodeHandle &amp;nh, const ros::Rate &amp;rate, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)</td></tr>
+<tr class="memdesc:ac2e365201eccac6aae67400e4da4438f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the object.  <a href="classmrs__lib_1_1ThreadTimer.html#ac2e365201eccac6aae67400e4da4438f">More...</a><br /></td></tr>
+<tr class="separator:ac2e365201eccac6aae67400e4da4438f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2ccbea65e537f1f73da1fa75f37833fc"><td class="memTemplParams" colspan="2">template&lt;class ObjectType &gt; </td></tr>
+<tr class="memitem:a2ccbea65e537f1f73da1fa75f37833fc"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a2ccbea65e537f1f73da1fa75f37833fc">ThreadTimer</a> (const ros::NodeHandle &amp;nh, const ros::Duration &amp;duration, void(ObjectType::*const callback)(const ros::TimerEvent &amp;), ObjectType *const obj, bool oneshot=false, const bool autostart=true)</td></tr>
+<tr class="memdesc:a2ccbea65e537f1f73da1fa75f37833fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the object.  <a href="classmrs__lib_1_1ThreadTimer.html#a2ccbea65e537f1f73da1fa75f37833fc">More...</a><br /></td></tr>
+<tr class="separator:a2ccbea65e537f1f73da1fa75f37833fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26d89795a716aa2ae6d7f890626c0aaa"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">stop</a> () override</td></tr>
+<tr class="memdesc:a26d89795a716aa2ae6d7f890626c0aaa"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the timer  <a href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">More...</a><br /></td></tr>
+<tr class="separator:a26d89795a716aa2ae6d7f890626c0aaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0425600320550d52408d1499ee3d7891"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">start</a> () override</td></tr>
+<tr class="memdesc:a0425600320550d52408d1499ee3d7891"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the timer  <a href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">More...</a><br /></td></tr>
+<tr class="separator:a0425600320550d52408d1499ee3d7891"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a038246468811544860d5d2d1c4091e2d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">setPeriod</a> (const ros::Duration &amp;duration, const bool reset=true) override</td></tr>
+<tr class="memdesc:a038246468811544860d5d2d1c4091e2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">set the timer period/duration  <a href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">More...</a><br /></td></tr>
+<tr class="separator:a038246468811544860d5d2d1c4091e2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3ecdba649fd5c849acd94ce9ad0c824"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">running</a> () override</td></tr>
+<tr class="memdesc:ab3ecdba649fd5c849acd94ce9ad0c824"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns true if callbacks should be called  <a href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">More...</a><br /></td></tr>
+<tr class="separator:ab3ecdba649fd5c849acd94ce9ad0c824"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a175a2bcce428cfca8bbf3f4ef836f4ed"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">~ThreadTimer</a> () override</td></tr>
+<tr class="memdesc:a175a2bcce428cfca8bbf3f4ef836f4ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">stops the timer and then destroys the object  <a href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">More...</a><br /></td></tr>
+<tr class="separator:a175a2bcce428cfca8bbf3f4ef836f4ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aefe278c61da9ed8f45f673dc609c06ab"><td class="memItemLeft" align="right" valign="top"><a id="aefe278c61da9ed8f45f673dc609c06ab"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>ThreadTimer</b> (const <a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> &amp;)=delete</td></tr>
+<tr class="separator:aefe278c61da9ed8f45f673dc609c06ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0205a00458be53b0f4d6b852d928e80a"><td class="memItemLeft" align="right" valign="top"><a id="a0205a00458be53b0f4d6b852d928e80a"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>ThreadTimer</b> (<a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> &amp;&amp;)=delete</td></tr>
+<tr class="separator:a0205a00458be53b0f4d6b852d928e80a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47415fa3c6e6434d1070c41c96f9fc14"><td class="memItemLeft" align="right" valign="top"><a id="a47415fa3c6e6434d1070c41c96f9fc14"></a>
+<a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> &amp;)=delete</td></tr>
+<tr class="separator:a47415fa3c6e6434d1070c41c96f9fc14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1651fa6c2eea20f0214dd5eab311db95"><td class="memItemLeft" align="right" valign="top"><a id="a1651fa6c2eea20f0214dd5eab311db95"></a>
+<a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> &amp;&amp;)=delete</td></tr>
+<tr class="separator:a1651fa6c2eea20f0214dd5eab311db95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1MRSTimer"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1MRSTimer')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td></tr>
+<tr class="memitem:ab8c67e675c0f51ff31bad5e898d90d33 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ab8c67e675c0f51ff31bad5e898d90d33"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>MRSTimer</b> (const <a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;)=default</td></tr>
+<tr class="separator:ab8c67e675c0f51ff31bad5e898d90d33 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae06c621b106897104698b62c28b67b84 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ae06c621b106897104698b62c28b67b84"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>MRSTimer</b> (<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&amp;)=default</td></tr>
+<tr class="separator:ae06c621b106897104698b62c28b67b84 inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf622f64026f1e7dbdeeec3b5512e8fb inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="acf622f64026f1e7dbdeeec3b5512e8fb"></a>
+<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;)=default</td></tr>
+<tr class="separator:acf622f64026f1e7dbdeeec3b5512e8fb inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae455e462fc33b2021fb2ce0bc768a75e inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ae455e462fc33b2021fb2ce0bc768a75e"></a>
+<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> &amp;&amp;)=default</td></tr>
+<tr class="separator:ae455e462fc33b2021fb2ce0bc768a75e inherit pub_methods_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1MRSTimer"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1MRSTimer')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></td></tr>
+<tr class="memitem:ae519667943aa8289e9c75b8182c75322 inherit pub_types_classmrs__lib_1_1MRSTimer"><td class="memItemLeft" align="right" valign="top"><a id="ae519667943aa8289e9c75b8182c75322"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>callback_t</b> = std::function&lt; void(const ros::TimerEvent &amp;)&gt;</td></tr>
+<tr class="separator:ae519667943aa8289e9c75b8182c75322 inherit pub_types_classmrs__lib_1_1MRSTimer"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Custom thread-based Timers with the same interface as <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">mrs_lib::ROSTimer</a>. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac2e365201eccac6aae67400e4da4438f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2e365201eccac6aae67400e4da4438f">&#9670;&nbsp;</a></span>ThreadTimer() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ObjectType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ThreadTimer::ThreadTimer </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Rate &amp;&#160;</td>
+          <td class="paramname"><em>rate</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType::*)(const ros::TimerEvent &amp;)&#160;</td>
+          <td class="paramname"><em>callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType *const&#160;</td>
+          <td class="paramname"><em>obj</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>oneshot</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>autostart</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructs the object. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">ObjectType</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ignored (used just for consistency with <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">ROSTimer</a>) </td></tr>
+    <tr><td class="paramname">rate</td><td>rate at which the callback should be called. </td></tr>
+    <tr><td class="paramname">ObjectType::*const</td><td>callback callback method to be called. </td></tr>
+    <tr><td class="paramname">obj</td><td>object for the method. </td></tr>
+    <tr><td class="paramname">oneshot</td><td>whether the callback should only be called once after starting. </td></tr>
+    <tr><td class="paramname">autostart</td><td>whether the timer should immediately start after construction. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2ccbea65e537f1f73da1fa75f37833fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ccbea65e537f1f73da1fa75f37833fc">&#9670;&nbsp;</a></span>ThreadTimer() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class ObjectType &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::ThreadTimer::ThreadTimer </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>duration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">void(ObjectType::*)(const ros::TimerEvent &amp;)&#160;</td>
+          <td class="paramname"><em>callback</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">ObjectType *const&#160;</td>
+          <td class="paramname"><em>obj</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>oneshot</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>autostart</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructs the object. </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">ObjectType</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>ignored (used just for consistency with <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">ROSTimer</a>) </td></tr>
+    <tr><td class="paramname">duration</td><td>desired callback period. </td></tr>
+    <tr><td class="paramname">ObjectType::*const</td><td>callback callback method to be called. </td></tr>
+    <tr><td class="paramname">obj</td><td>object for the method. </td></tr>
+    <tr><td class="paramname">oneshot</td><td>whether the callback should only be called once after starting. </td></tr>
+    <tr><td class="paramname">autostart</td><td>whether the timer should immediately start after construction. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a175a2bcce428cfca8bbf3f4ef836f4ed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a175a2bcce428cfca8bbf3f4ef836f4ed">&#9670;&nbsp;</a></span>~ThreadTimer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual mrs_lib::ThreadTimer::~ThreadTimer </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stops the timer and then destroys the object </p>
+<p>No more callbacks will be called when the destructor is started. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3ecdba649fd5c849acd94ce9ad0c824"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3ecdba649fd5c849acd94ce9ad0c824">&#9670;&nbsp;</a></span>running()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::ThreadTimer::running </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>returns true if callbacks should be called </p>
+<dl class="section return"><dt>Returns</dt><dd>true if timer is running </dd></dl>
+
+<p>Implements <a class="el" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">mrs_lib::MRSTimer</a>.</p>
+
+</div>
+</div>
+<a id="a038246468811544860d5d2d1c4091e2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a038246468811544860d5d2d1c4091e2d">&#9670;&nbsp;</a></span>setPeriod()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ThreadTimer::setPeriod </td>
+          <td>(</td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>duration</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>reset</em> = <code>true</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set the timer period/duration </p>
+<p>The new period will be applied after the next callback.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">duration</td><td>the new desired callback period. </td></tr>
+    <tr><td class="paramname">reset</td><td>ignored in this implementation. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">mrs_lib::MRSTimer</a>.</p>
+
+</div>
+</div>
+<a id="a0425600320550d52408d1499ee3d7891"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0425600320550d52408d1499ee3d7891">&#9670;&nbsp;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ThreadTimer::start </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>start the timer </p>
+<p>The first callback will be called in now + period.</p>
+<dl class="section note"><dt>Note</dt><dd>If the timer is already started, nothing will change. </dd></dl>
+
+<p>Implements <a class="el" href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">mrs_lib::MRSTimer</a>.</p>
+
+</div>
+</div>
+<a id="a26d89795a716aa2ae6d7f890626c0aaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26d89795a716aa2ae6d7f890626c0aaa">&#9670;&nbsp;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::ThreadTimer::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop the timer </p>
+<p>No more callbacks will be called after this method returns. </p>
+
+<p>Implements <a class="el" href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">mrs_lib::MRSTimer</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="timer_8h_source.html">timer.h</a></li>
+<li>src/timer/timer.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1ThreadTimer.js b/classmrs__lib_1_1ThreadTimer.js
new file mode 100644
index 00000000..e211b9d1
--- /dev/null
+++ b/classmrs__lib_1_1ThreadTimer.js
@@ -0,0 +1,15 @@
+var classmrs__lib_1_1ThreadTimer =
+[
+    [ "ThreadTimer", "classmrs__lib_1_1ThreadTimer.html#adeeefbee9903e230a18edea3868cc412", null ],
+    [ "ThreadTimer", "classmrs__lib_1_1ThreadTimer.html#ac2e365201eccac6aae67400e4da4438f", null ],
+    [ "ThreadTimer", "classmrs__lib_1_1ThreadTimer.html#a2ccbea65e537f1f73da1fa75f37833fc", null ],
+    [ "~ThreadTimer", "classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed", null ],
+    [ "ThreadTimer", "classmrs__lib_1_1ThreadTimer.html#aefe278c61da9ed8f45f673dc609c06ab", null ],
+    [ "ThreadTimer", "classmrs__lib_1_1ThreadTimer.html#a0205a00458be53b0f4d6b852d928e80a", null ],
+    [ "operator=", "classmrs__lib_1_1ThreadTimer.html#a47415fa3c6e6434d1070c41c96f9fc14", null ],
+    [ "operator=", "classmrs__lib_1_1ThreadTimer.html#a1651fa6c2eea20f0214dd5eab311db95", null ],
+    [ "running", "classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824", null ],
+    [ "setPeriod", "classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d", null ],
+    [ "start", "classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891", null ],
+    [ "stop", "classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa", null ]
+];
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new file mode 100644
index 00000000..9da02825
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+<map id="mrs_lib::ThreadTimer" name="mrs_lib::ThreadTimer">
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::TimeoutManager Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callback_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>change</b>(const timeout_id_t id, const ros::Duration &amp;timeout, const callback_t &amp;callback, const ros::Time &amp;last_reset=ros::Time::now(), const bool oneshot=false, const bool autostart=true) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>lastReset</b>(const timeout_id_t id) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pause</b>(const timeout_id_t id) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>pauseAll</b>() (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>registerNew</b>(const ros::Duration &amp;timeout, const callback_t &amp;callback, const ros::Time &amp;last_reset=ros::Time::now(), const bool oneshot=false, const bool autostart=true) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>reset</b>(const timeout_id_t id, const ros::Time &amp;time=ros::Time::now()) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>start</b>(const timeout_id_t id, const ros::Time &amp;time=ros::Time::now()) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>startAll</b>(const ros::Time &amp;time=ros::Time::now()) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>started</b>(const timeout_id_t id) (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>timeout_id_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">TimeoutManager</a>(const ros::NodeHandle &amp;nh, const ros::Rate &amp;update_rate)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::TimeoutManager Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<div id="doc-content">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1TimeoutManager-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::TimeoutManager Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>TODO.  
+ <a href="classmrs__lib_1_1TimeoutManager.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="timeout__manager_8h_source.html">timeout_manager.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a5607caa89e3da009d39c6343f5d2b2fb"><td class="memItemLeft" align="right" valign="top"><a id="a5607caa89e3da009d39c6343f5d2b2fb"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>timeout_id_t</b> = size_t</td></tr>
+<tr class="separator:a5607caa89e3da009d39c6343f5d2b2fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa362ddd47a87442c46f763fc74045d7"><td class="memItemLeft" align="right" valign="top"><a id="aaa362ddd47a87442c46f763fc74045d7"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>callback_t</b> = std::function&lt; void(const ros::Time &amp;)&gt;</td></tr>
+<tr class="separator:aaa362ddd47a87442c46f763fc74045d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7627ccd5204a4f13c832db2cb558128f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">TimeoutManager</a> (const ros::NodeHandle &amp;nh, const ros::Rate &amp;update_rate)</td></tr>
+<tr class="memdesc:a7627ccd5204a4f13c832db2cb558128f"><td class="mdescLeft">&#160;</td><td class="mdescRight">TODO.  <a href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">More...</a><br /></td></tr>
+<tr class="separator:a7627ccd5204a4f13c832db2cb558128f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7e7f174308a44ab6ed647bcc8db8bf42"><td class="memItemLeft" align="right" valign="top"><a id="a7e7f174308a44ab6ed647bcc8db8bf42"></a>
+timeout_id_t&#160;</td><td class="memItemRight" valign="bottom"><b>registerNew</b> (const ros::Duration &amp;timeout, const callback_t &amp;callback, const ros::Time &amp;last_reset=ros::Time::now(), const bool oneshot=false, const bool autostart=true)</td></tr>
+<tr class="separator:a7e7f174308a44ab6ed647bcc8db8bf42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0fdaec453e6db200aa47f38999c5aa44"><td class="memItemLeft" align="right" valign="top"><a id="a0fdaec453e6db200aa47f38999c5aa44"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>reset</b> (const timeout_id_t id, const ros::Time &amp;time=ros::Time::now())</td></tr>
+<tr class="separator:a0fdaec453e6db200aa47f38999c5aa44"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>pause</b> (const timeout_id_t id)</td></tr>
+<tr class="separator:ad9eac0dcd59c253eb559f1a8da6495eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>start</b> (const timeout_id_t id, const ros::Time &amp;time=ros::Time::now())</td></tr>
+<tr class="separator:aded1164d59ca86f39ebaf147c91187c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>pauseAll</b> ()</td></tr>
+<tr class="separator:aeec77f82c5c403b914ba29640ca6c1a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>startAll</b> (const ros::Time &amp;time=ros::Time::now())</td></tr>
+<tr class="separator:a2dfe6dc322c5e159f21b8bb131e54766"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2acb13d7a30b3e62ccbbf41a3a9f4755"><td class="memItemLeft" align="right" valign="top"><a id="a2acb13d7a30b3e62ccbbf41a3a9f4755"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>change</b> (const timeout_id_t id, const ros::Duration &amp;timeout, const callback_t &amp;callback, const ros::Time &amp;last_reset=ros::Time::now(), const bool oneshot=false, const bool autostart=true)</td></tr>
+<tr class="separator:a2acb13d7a30b3e62ccbbf41a3a9f4755"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+ros::Time&#160;</td><td class="memItemRight" valign="bottom"><b>lastReset</b> (const timeout_id_t id)</td></tr>
+<tr class="separator:ae70c094760d7b3b707872dbd78318563"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad4eefb7364d8f62ac18186a3d9001f28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>TODO. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7627ccd5204a4f13c832db2cb558128f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7627ccd5204a4f13c832db2cb558128f">&#9670;&nbsp;</a></span>TimeoutManager()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::TimeoutManager::TimeoutManager </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Rate &amp;&#160;</td>
+          <td class="paramname"><em>update_rate</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>TODO. </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="timeout__manager_8h_source.html">timeout_manager.h</a></li>
+<li>src/timeout_manager/timeout_manager.cpp</li>
+</ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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+    [ "pauseAll", "classmrs__lib_1_1TimeoutManager.html#aeec77f82c5c403b914ba29640ca6c1a2", null ],
+    [ "registerNew", "classmrs__lib_1_1TimeoutManager.html#a7e7f174308a44ab6ed647bcc8db8bf42", null ],
+    [ "reset", "classmrs__lib_1_1TimeoutManager.html#a0fdaec453e6db200aa47f38999c5aa44", null ],
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+    [ "startAll", "classmrs__lib_1_1TimeoutManager.html#a2dfe6dc322c5e159f21b8bb131e54766", null ],
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::TransformBroadcaster Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html">mrs_lib::TransformBroadcaster</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">sendTransform</a>(const geometry_msgs::TransformStamped &amp;transform)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html">mrs_lib::TransformBroadcaster</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a2adf5bd449b5561323fb7d8633e04bf5">sendTransform</a>(const std::vector&lt; geometry_msgs::TransformStamped &gt; &amp;transforms)</td><td class="entry"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html">mrs_lib::TransformBroadcaster</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#ab8760c98f2d7111cc029f45b11e24bb9">TransformBroadcaster</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html">mrs_lib::TransformBroadcaster</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1TransformBroadcaster-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::TransformBroadcaster Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Wrapper for the tf2_ros::TransformBroadcaster. With each <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93" title="check if the transform is newer than the last published one and publish it. Transform is skipped if a...">sendTransform()</a> command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output.  
+ <a href="classmrs__lib_1_1TransformBroadcaster.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="transform__broadcaster_8h_source.html">transform_broadcaster.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab8760c98f2d7111cc029f45b11e24bb9"><td class="memItemLeft" align="right" valign="top"><a id="ab8760c98f2d7111cc029f45b11e24bb9"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#ab8760c98f2d7111cc029f45b11e24bb9">TransformBroadcaster</a> ()</td></tr>
+<tr class="memdesc:ab8760c98f2d7111cc029f45b11e24bb9"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor, internally starts the <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html" title="Wrapper for the tf2_ros::TransformBroadcaster. With each sendTransform() command, the message is chec...">TransformBroadcaster</a> <br /></td></tr>
+<tr class="separator:ab8760c98f2d7111cc029f45b11e24bb9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a93913661cb31baeedb7d4e1f72142b93"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">sendTransform</a> (const geometry_msgs::TransformStamped &amp;transform)</td></tr>
+<tr class="memdesc:a93913661cb31baeedb7d4e1f72142b93"><td class="mdescLeft">&#160;</td><td class="mdescRight">check if the transform is newer than the last published one and publish it. Transform is skipped if a duplicit timestamp is found  <a href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">More...</a><br /></td></tr>
+<tr class="separator:a93913661cb31baeedb7d4e1f72142b93"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2adf5bd449b5561323fb7d8633e04bf5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a2adf5bd449b5561323fb7d8633e04bf5">sendTransform</a> (const std::vector&lt; geometry_msgs::TransformStamped &gt; &amp;transforms)</td></tr>
+<tr class="memdesc:a2adf5bd449b5561323fb7d8633e04bf5"><td class="mdescLeft">&#160;</td><td class="mdescRight">check if the transforms are newer than the last published ones and publish them. A transform is skipped if a duplicit timestamp is found  <a href="classmrs__lib_1_1TransformBroadcaster.html#a2adf5bd449b5561323fb7d8633e04bf5">More...</a><br /></td></tr>
+<tr class="separator:a2adf5bd449b5561323fb7d8633e04bf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Wrapper for the tf2_ros::TransformBroadcaster. With each <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93" title="check if the transform is newer than the last published one and publish it. Transform is skipped if a...">sendTransform()</a> command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a93913661cb31baeedb7d4e1f72142b93"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93913661cb31baeedb7d4e1f72142b93">&#9670;&nbsp;</a></span>sendTransform() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::TransformBroadcaster::sendTransform </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>transform</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>check if the transform is newer than the last published one and publish it. Transform is skipped if a duplicit timestamp is found </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">transform</td><td>to be published </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2adf5bd449b5561323fb7d8633e04bf5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2adf5bd449b5561323fb7d8633e04bf5">&#9670;&nbsp;</a></span>sendTransform() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::TransformBroadcaster::sendTransform </td>
+          <td>(</td>
+          <td class="paramtype">const std::vector&lt; geometry_msgs::TransformStamped &gt; &amp;&#160;</td>
+          <td class="paramname"><em>transforms</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>check if the transforms are newer than the last published ones and publish them. A transform is skipped if a duplicit timestamp is found </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">transforms</td><td>vector of transforms to be published </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="transform__broadcaster_8h_source.html">transform_broadcaster.h</a></li>
+<li>src/transform_broadcaster/transform_broadcaster.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html">TransformBroadcaster</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "sendTransform", "classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93", null ],
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::Transformer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#ab1e3fff472e6c6320a41d6f6ca331ca0">beQuiet</a>(const bool quiet=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(const geometry_msgs::TransformStamped &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a7a53d960ee4b76ea943d9c19d23f2e95">frame_from</a>(geometry_msgs::TransformStamped &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a34792e38e397efc72701898ff22114cc">frame_to</a>(geometry_msgs::TransformStamped &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a3a29dfb385f1b9c4deee695181880995">getTransform</a>(const std::string &amp;from_frame, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a73ce6b60499d9ed491859a444f8d8afd">getTransform</a>(const std::string &amp;from_frame, const ros::Time &amp;from_stamp, const std::string &amp;to_frame, const ros::Time &amp;to_stamp, const std::string &amp;fixed_frame)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a17440196c1c894e265f77b0b9112336a">inverse</a>(const geometry_msgs::TransformStamped &amp;msg)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">operator=</a>(Transformer &amp;&amp;other)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">resolveFrame</a>(const std::string &amp;frame_id)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">retryLookupNewest</a>(const bool retry=true)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a16a54cd35b1f071a80197cbccccfe9c0">setDefaultFrame</a>(const std::string &amp;frame_id)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a5d6f4288d53f09474c92bda26d0c9f55">setDefaultPrefix</a>(const std::string &amp;prefix)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">setLatLon</a>(const double lat, const double lon)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">setLookupTimeout</a>(const ros::Duration timeout=ros::Duration(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">transform</a>(const T &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a8b05fe85c78f490b938bbf3d5884fce4">transform</a>(const boost::shared_ptr&lt; const T &gt; &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a6509524feeb70fe794964b7462f28409">transform</a>(const boost::shared_ptr&lt; T &gt; &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#ae56ae48888d4fcaf21c912ed491b35d1">transformAsPoint</a>(const Eigen::Vector3d &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#ab1533c559b6c94b406322bfbfc700ef7">transformAsPoint</a>(const std::string &amp;from_frame, const Eigen::Vector3d &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">transformAsVector</a>(const Eigen::Vector3d &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a1c71e387e846a2591616e83a88071d24">transformAsVector</a>(const std::string &amp;from_frame, const Eigen::Vector3d &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">Transformer</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#ae1a34c10d53059f9dfaf4c8c05a4f617">Transformer</a>(const std::string &amp;node_name, const ros::Duration &amp;cache_time=ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a561b0c5342c38dea6071ab400b8eaae4">Transformer</a>(const ros::NodeHandle &amp;nh, const std::string &amp;node_name=std::string(), const ros::Duration &amp;cache_time=ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">transformSingle</a>(const T &amp;what, const std::string &amp;to_frame)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a58e8e6d80098e192a0d415a14c6deec0">transformSingle</a>(const boost::shared_ptr&lt; T &gt; &amp;what, const std::string &amp;to_frame)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a2c45ff29ac5f482ba9b9c2537d82b8fb">transformSingle</a>(const boost::shared_ptr&lt; const T &gt; &amp;what, const std::string &amp;to_frame)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a7cea399425c4a51a676ba5aa285612d4">transformSingle</a>(const std::string &amp;from_frame, const T &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a5afde5d58bc9a558cba5da9e0c2d4d1b">transformSingle</a>(const std::string &amp;from_frame, const boost::shared_ptr&lt; T &gt; &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html#a4d01ec1804bb492694d328704dada907">transformSingle</a>(const std::string &amp;from_frame, const boost::shared_ptr&lt; const T &gt; &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td><td class="entry"><a class="el" href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1Transformer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::Transformer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages.  
+ <a href="classmrs__lib_1_1Transformer.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="transformer_8h_source.html">transformer.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aca0408b710e4fa6e163ac23719d30fd1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">Transformer</a> ()</td></tr>
+<tr class="memdesc:aca0408b710e4fa6e163ac23719d30fd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience constructor that doesn't initialize anything.  <a href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">More...</a><br /></td></tr>
+<tr class="separator:aca0408b710e4fa6e163ac23719d30fd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1a34c10d53059f9dfaf4c8c05a4f617"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#ae1a34c10d53059f9dfaf4c8c05a4f617">Transformer</a> (const std::string &amp;node_name, const ros::Duration &amp;cache_time=ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME))</td></tr>
+<tr class="memdesc:ae1a34c10d53059f9dfaf4c8c05a4f617"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor that actually initializes stuff.  <a href="classmrs__lib_1_1Transformer.html#ae1a34c10d53059f9dfaf4c8c05a4f617">More...</a><br /></td></tr>
+<tr class="separator:ae1a34c10d53059f9dfaf4c8c05a4f617"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a561b0c5342c38dea6071ab400b8eaae4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a561b0c5342c38dea6071ab400b8eaae4">Transformer</a> (const ros::NodeHandle &amp;nh, const std::string &amp;node_name=std::string(), const ros::Duration &amp;cache_time=ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME))</td></tr>
+<tr class="memdesc:a561b0c5342c38dea6071ab400b8eaae4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor that actually initializes stuff.  <a href="classmrs__lib_1_1Transformer.html#a561b0c5342c38dea6071ab400b8eaae4">More...</a><br /></td></tr>
+<tr class="separator:a561b0c5342c38dea6071ab400b8eaae4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c4c846758bf173c7aeb488c8ff773b1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrs__lib_1_1Transformer.html">Transformer</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">operator=</a> (<a class="el" href="classmrs__lib_1_1Transformer.html">Transformer</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a6c4c846758bf173c7aeb488c8ff773b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience move assignment operator.  <a href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">More...</a><br /></td></tr>
+<tr class="separator:a6c4c846758bf173c7aeb488c8ff773b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a16a54cd35b1f071a80197cbccccfe9c0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a16a54cd35b1f071a80197cbccccfe9c0">setDefaultFrame</a> (const std::string &amp;frame_id)</td></tr>
+<tr class="memdesc:a16a54cd35b1f071a80197cbccccfe9c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the default frame ID to be used instead of any empty frame ID.  <a href="classmrs__lib_1_1Transformer.html#a16a54cd35b1f071a80197cbccccfe9c0">More...</a><br /></td></tr>
+<tr class="separator:a16a54cd35b1f071a80197cbccccfe9c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d6f4288d53f09474c92bda26d0c9f55"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a5d6f4288d53f09474c92bda26d0c9f55">setDefaultPrefix</a> (const std::string &amp;prefix)</td></tr>
+<tr class="memdesc:a5d6f4288d53f09474c92bda26d0c9f55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the default frame ID prefix to be used if no prefix is present in the frame.  <a href="classmrs__lib_1_1Transformer.html#a5d6f4288d53f09474c92bda26d0c9f55">More...</a><br /></td></tr>
+<tr class="separator:a5d6f4288d53f09474c92bda26d0c9f55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54764308675cc6df1782954870e1f3c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">setLatLon</a> (const double lat, const double lon)</td></tr>
+<tr class="memdesc:a54764308675cc6df1782954870e1f3c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the curret lattitude and longitude for UTM zone calculation.  <a href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">More...</a><br /></td></tr>
+<tr class="separator:a54764308675cc6df1782954870e1f3c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac073019d60f1d9c6d48a0c207bafb678"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">setLookupTimeout</a> (const ros::Duration timeout=ros::Duration(0))</td></tr>
+<tr class="memdesc:ac073019d60f1d9c6d48a0c207bafb678"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a timeout for transform lookup.  <a href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">More...</a><br /></td></tr>
+<tr class="separator:ac073019d60f1d9c6d48a0c207bafb678"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abef2a59ed83e09ab103c060abb31dbb1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">retryLookupNewest</a> (const bool retry=true)</td></tr>
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+<tr class="separator:abef2a59ed83e09ab103c060abb31dbb1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1e3fff472e6c6320a41d6f6ca331ca0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#ab1e3fff472e6c6320a41d6f6ca331ca0">beQuiet</a> (const bool quiet=true)</td></tr>
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+<tr class="separator:ab1e3fff472e6c6320a41d6f6ca331ca0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4cf06770b355a01c66f227363a4967f"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">resolveFrame</a> (const std::string &amp;frame_id)</td></tr>
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+<tr class="separator:aa4cf06770b355a01c66f227363a4967f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a623af4e8100b71ac700ad5ffac96d2e2"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a623af4e8100b71ac700ad5ffac96d2e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a58e8e6d80098e192a0d415a14c6deec0"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a58e8e6d80098e192a0d415a14c6deec0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2c45ff29ac5f482ba9b9c2537d82b8fb"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a2c45ff29ac5f482ba9b9c2537d82b8fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7cea399425c4a51a676ba5aa285612d4"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a7cea399425c4a51a676ba5aa285612d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5afde5d58bc9a558cba5da9e0c2d4d1b"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a5afde5d58bc9a558cba5da9e0c2d4d1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d01ec1804bb492694d328704dada907"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a4d01ec1804bb492694d328704dada907"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a66075edc7025976292ebd401d7de16"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a8a66075edc7025976292ebd401d7de16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b05fe85c78f490b938bbf3d5884fce4"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
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+<tr class="separator:a8b05fe85c78f490b938bbf3d5884fce4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6509524feeb70fe794964b7462f28409"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:a6509524feeb70fe794964b7462f28409"><td class="memTemplItemLeft" align="right" valign="top">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a6509524feeb70fe794964b7462f28409">transform</a> (const boost::shared_ptr&lt; T &gt; &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td></tr>
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+<tr class="separator:a6509524feeb70fe794964b7462f28409"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af17729e67e82876f6bbce2d5cec55613"><td class="memItemLeft" align="right" valign="top">std::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">transformAsVector</a> (const Eigen::Vector3d &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td></tr>
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+<tr class="separator:af17729e67e82876f6bbce2d5cec55613"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c71e387e846a2591616e83a88071d24"><td class="memItemLeft" align="right" valign="top">std::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a1c71e387e846a2591616e83a88071d24">transformAsVector</a> (const std::string &amp;from_frame, const Eigen::Vector3d &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td></tr>
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+<tr class="separator:a1c71e387e846a2591616e83a88071d24"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae56ae48888d4fcaf21c912ed491b35d1"><td class="memItemLeft" align="right" valign="top">std::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#ae56ae48888d4fcaf21c912ed491b35d1">transformAsPoint</a> (const Eigen::Vector3d &amp;what, const geometry_msgs::TransformStamped &amp;tf)</td></tr>
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+<tr class="separator:ae56ae48888d4fcaf21c912ed491b35d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab1533c559b6c94b406322bfbfc700ef7"><td class="memItemLeft" align="right" valign="top">std::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#ab1533c559b6c94b406322bfbfc700ef7">transformAsPoint</a> (const std::string &amp;from_frame, const Eigen::Vector3d &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</td></tr>
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+<tr class="separator:ab1533c559b6c94b406322bfbfc700ef7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3a29dfb385f1b9c4deee695181880995"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a73ce6b60499d9ed491859a444f8d8afd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="separator:a0a440d4cd248304525a05e8cfa9662f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7a53d960ee4b76ea943d9c19d23f2e95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f4befc33e5518afa01026b7955c1e2b"><td class="memItemLeft" align="right" valign="top">static constexpr const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">frame_to</a> (const geometry_msgs::TransformStamped &amp;msg)</td></tr>
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+<tr class="separator:a4f4befc33e5518afa01026b7955c1e2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a34792e38e397efc72701898ff22114cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17440196c1c894e265f77b0b9112336a"><td class="memItemLeft" align="right" valign="top">static geometry_msgs::TransformStamped&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html#a17440196c1c894e265f77b0b9112336a">inverse</a> (const geometry_msgs::TransformStamped &amp;msg)</td></tr>
+<tr class="memdesc:a17440196c1c894e265f77b0b9112336a"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience function implements returns the inverse of the transform message as a one-liner.  <a href="classmrs__lib_1_1Transformer.html#a17440196c1c894e265f77b0b9112336a">More...</a><br /></td></tr>
+<tr class="separator:a17440196c1c894e265f77b0b9112336a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages. </p>
+<p>Implements optional automatic frame prefix deduction, seamless transformation lattitude/longitude coordinates and UTM coordinates, simple transformation of MRS messages etc. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aca0408b710e4fa6e163ac23719d30fd1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca0408b710e4fa6e163ac23719d30fd1">&#9670;&nbsp;</a></span>Transformer() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Transformer::Transformer </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience constructor that doesn't initialize anything. </p>
+<p>This constructor is just to enable usign the <a class="el" href="classmrs__lib_1_1Transformer.html" title="A convenience wrapper class for ROS&#39;s native TF2 API to simplify transforming of various messages.">Transformer</a> as a member variable of nodelets etc. To actually initialize the class, use the alternative constructor.</p>
+<dl class="section note"><dt>Note</dt><dd>This constructor doesn't initialize the TF2 transform listener and all calls to the transformation-related methods of an object constructed using this method will fail. </dd></dl>
+
+</div>
+</div>
+<a id="ae1a34c10d53059f9dfaf4c8c05a4f617"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1a34c10d53059f9dfaf4c8c05a4f617">&#9670;&nbsp;</a></span>Transformer() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Transformer::Transformer </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>node_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>cache_time</em> = <code>ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The main constructor that actually initializes stuff. </p>
+<p>This constructor initializes the class and the TF2 transform listener.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node_name</td><td>the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string. </td></tr>
+    <tr><td class="paramname">cache_time</td><td>duration of the transformation buffer's cache into the past that will be kept. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a561b0c5342c38dea6071ab400b8eaae4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a561b0c5342c38dea6071ab400b8eaae4">&#9670;&nbsp;</a></span>Transformer() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Transformer::Transformer </td>
+          <td>(</td>
+          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
+          <td class="paramname"><em>nh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>node_name</em> = <code>std::string()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>cache_time</em> = <code>ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The main constructor that actually initializes stuff. </p>
+<p>This constructor initializes the class and the TF2 transform listener.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nh</td><td>the node handle to be used for subscribing to the transformations. </td></tr>
+    <tr><td class="paramname">node_name</td><td>the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string. </td></tr>
+    <tr><td class="paramname">cache_time</td><td>duration of the transformation buffer's cache into the past that will be kept. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab1e3fff472e6c6320a41d6f6ca331ca0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1e3fff472e6c6320a41d6f6ca331ca0">&#9670;&nbsp;</a></span>beQuiet()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::Transformer::beQuiet </td>
+          <td>(</td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>quiet</em> = <code>true</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enable/disable some prints that may be too noisy. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quiet</td><td>enables or disables quiet mode.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>Disabled by default. </dd></dl>
+
+</div>
+</div>
+<a id="a0a440d4cd248304525a05e8cfa9662f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a440d4cd248304525a05e8cfa9662f7">&#9670;&nbsp;</a></span>frame_from() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static constexpr const std::string&amp; mrs_lib::Transformer::frame_from </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience function that returns the frame from which the message transforms. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>the message representing the transformation. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the frame from which the transformation in \msg transforms. </dd></dl>
+
+</div>
+</div>
+<a id="a7a53d960ee4b76ea943d9c19d23f2e95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a53d960ee4b76ea943d9c19d23f2e95">&#9670;&nbsp;</a></span>frame_from() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static constexpr std::string&amp; mrs_lib::Transformer::frame_from </td>
+          <td>(</td>
+          <td class="paramtype">geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience function that returns the frame from which the message transforms. </p>
+<p>This overload returns a reference to the string in the message representing the frame id so that it can be modified.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>the message representing the transformation. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a reference to the field in the message containing the string with the frame id from which the transformation in \msg transforms. </dd></dl>
+
+</div>
+</div>
+<a id="a4f4befc33e5518afa01026b7955c1e2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f4befc33e5518afa01026b7955c1e2b">&#9670;&nbsp;</a></span>frame_to() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static constexpr const std::string&amp; mrs_lib::Transformer::frame_to </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience function that returns the frame to which the message transforms. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>the message representing the transformation. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the frame to which the transformation in \msg transforms. </dd></dl>
+
+</div>
+</div>
+<a id="a34792e38e397efc72701898ff22114cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34792e38e397efc72701898ff22114cc">&#9670;&nbsp;</a></span>frame_to() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static constexpr std::string&amp; mrs_lib::Transformer::frame_to </td>
+          <td>(</td>
+          <td class="paramtype">geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience function that returns the frame to which the message transforms. </p>
+<p>This overload returns a reference to the string in the message representing the frame id so that it can be modified.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>the message representing the transformation. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a reference to the field in the message containing the string with the frame id to which the transformation in \msg transforms. </dd></dl>
+
+</div>
+</div>
+<a id="a73ce6b60499d9ed491859a444f8d8afd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73ce6b60499d9ed491859a444f8d8afd">&#9670;&nbsp;</a></span>getTransform() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; geometry_msgs::TransformStamped &gt; mrs_lib::Transformer::getTransform </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>from_stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>to_stamp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>fixed_frame</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Obtains a transform between two frames in a given time. </p>
+<p>This overload enables the user to select a different time of the source frame and the target frame.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>The original frame of the transformation. </td></tr>
+    <tr><td class="paramname">from_stamp</td><td>The time at which the original frame should be evaluated. (0 will get the latest) </td></tr>
+    <tr><td class="paramname">to_frame</td><td>The target frame of the transformation. </td></tr>
+    <tr><td class="paramname">to_stamp</td><td>The time to which the data should be transformed. (0 will get the latest) </td></tr>
+    <tr><td class="paramname">fixed_frame</td><td>The frame that may be assumed constant in time (the "world" frame).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the requested transformation otherwise.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>An example of when this API may be useful is explained here: <a href="http://wiki.ros.org/tf2/Tutorials/Time%20travel%20with%20tf2%20%28C%2B%2B%29">http://wiki.ros.org/tf2/Tutorials/Time%20travel%20with%20tf2%20%28C%2B%2B%29</a> </dd></dl>
+
+</div>
+</div>
+<a id="a3a29dfb385f1b9c4deee695181880995"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a29dfb385f1b9c4deee695181880995">&#9670;&nbsp;</a></span>getTransform() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; geometry_msgs::TransformStamped &gt; mrs_lib::Transformer::getTransform </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>time_stamp</em> = <code>ros::Time(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Obtains a transform between two frames in a given time. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>The original frame of the transformation. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>The target frame of the transformation. </td></tr>
+    <tr><td class="paramname">time_stamp</td><td>The time stamp of the transformation. (0 will get the latest)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the requested transformation otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a17440196c1c894e265f77b0b9112336a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17440196c1c894e265f77b0b9112336a">&#9670;&nbsp;</a></span>inverse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static geometry_msgs::TransformStamped mrs_lib::Transformer::inverse </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>A convenience function implements returns the inverse of the transform message as a one-liner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>the message representing the transformation. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a new message representing an inverse of the original transformation. </dd></dl>
+
+</div>
+</div>
+<a id="a6c4c846758bf173c7aeb488c8ff773b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c4c846758bf173c7aeb488c8ff773b1">&#9670;&nbsp;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1Transformer.html">Transformer</a> &amp; mrs_lib::Transformer::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1Transformer.html">Transformer</a> &amp;&amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>A convenience move assignment operator. </p>
+<p>This operator moves all data from the object that is being assigned from, invalidating it.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>the object to assign from. It will be invalid after this method returns. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a reference to the object being assigned to. </dd></dl>
+
+</div>
+</div>
+<a id="aa4cf06770b355a01c66f227363a4967f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa4cf06770b355a01c66f227363a4967f">&#9670;&nbsp;</a></span>resolveFrame()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string mrs_lib::Transformer::resolveFrame </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>frame_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Deduce the full frame ID from a shortened or empty string using current default prefix and default frame rules. </p>
+<p>Example assuming default prefix is "uav1" and default frame is "uav1/gps_origin": "" -&gt; "uav1/gps_origin" "local_origin" -&gt; "uav1/local_origin"</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">frame_id</td><td>The frame ID to be resolved.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The resolved frame ID. </dd></dl>
+
+</div>
+</div>
+<a id="abef2a59ed83e09ab103c060abb31dbb1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abef2a59ed83e09ab103c060abb31dbb1">&#9670;&nbsp;</a></span>retryLookupNewest()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::Transformer::retryLookupNewest </td>
+          <td>(</td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>retry</em> = <code>true</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Enable/disable retry of a failed transform lookup with <code>ros::Time(0)</code>. </p>
+<p>If enabled, a failed transform lookup will be retried. The new try will ignore the requested timestamp and will attempt to fetch the latest transformation between the two frames.</p>
+<dl class="section note"><dt>Note</dt><dd>Disabled by default.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">retry</td><td>enables or disables retry. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a16a54cd35b1f071a80197cbccccfe9c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a16a54cd35b1f071a80197cbccccfe9c0">&#9670;&nbsp;</a></span>setDefaultFrame()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::Transformer::setDefaultFrame </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>frame_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sets the default frame ID to be used instead of any empty frame ID. </p>
+<p>If you call e.g. the <a class="el" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16" title="Transform a variable to new frame using a particular transformation.">transform()</a> method with a message that has an empty header.frame_id field, this value will be used instead.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">frame_id</td><td>the default frame ID. Use an empty string to disable default frame ID deduction.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>Disabled by default. </dd></dl>
+
+</div>
+</div>
+<a id="a5d6f4288d53f09474c92bda26d0c9f55"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d6f4288d53f09474c92bda26d0c9f55">&#9670;&nbsp;</a></span>setDefaultPrefix()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::Transformer::setDefaultPrefix </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>prefix</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sets the default frame ID prefix to be used if no prefix is present in the frame. </p>
+<p>If you call any method with a frame ID that doesn't begin with this string, it will be automatically prefixed including a forward slash between the prefix and raw frame ID. The forward slash should therefore <em>not</em> be included in the prefix.</p>
+<p>Example frame ID resolution assuming default prefix is "uav1": "local_origin" -&gt; "uav1/local_origin"</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">prefix</td><td>the default frame ID prefix (without the forward slash at the end). Use an empty string to disable default frame ID prefixing.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>Disabled by default. The prefix will be applied as a namespace (with a forward slash between the prefix and raw frame ID). </dd></dl>
+
+</div>
+</div>
+<a id="a54764308675cc6df1782954870e1f3c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54764308675cc6df1782954870e1f3c2">&#9670;&nbsp;</a></span>setLatLon()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::Transformer::setLatLon </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>lat</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>lon</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Sets the curret lattitude and longitude for UTM zone calculation. </p>
+<p>The <a class="el" href="classmrs__lib_1_1Transformer.html" title="A convenience wrapper class for ROS&#39;s native TF2 API to simplify transforming of various messages.">Transformer</a> uses this to deduce the current UTM zone used for transforming stuff to latlon_origin.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lat</td><td>the latitude in degrees. </td></tr>
+    <tr><td class="paramname">lon</td><td>the longitude in degrees.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section note"><dt>Note</dt><dd>Any transformation to latlon_origin will fail if this function is not called first! </dd></dl>
+
+</div>
+</div>
+<a id="ac073019d60f1d9c6d48a0c207bafb678"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac073019d60f1d9c6d48a0c207bafb678">&#9670;&nbsp;</a></span>setLookupTimeout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::Transformer::setLookupTimeout </td>
+          <td>(</td>
+          <td class="paramtype">const ros::Duration&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>ros::Duration(0)</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set a timeout for transform lookup. </p>
+<p>The transform lookup operation will block up to this duration if the transformation is not available immediately.</p>
+<dl class="section note"><dt>Note</dt><dd>Disabled by default.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">timeout</td><td>the lookup timeout. Set to zero to disable blocking. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8b05fe85c78f490b938bbf3d5884fce4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b05fe85c78f490b938bbf3d5884fce4">&#9670;&nbsp;</a></span>transform() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt;boost::shared_ptr&lt;T&gt; &gt; mrs_lib::Transformer::transform </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; const T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>tf</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Transform a variable to new frame using a particular transformation. </p>
+<p>A convenience override for shared pointers to const.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">tf</td><td>The transformation to be used. </td></tr>
+    <tr><td class="paramname">what</td><td>The object to be transformed.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a6509524feeb70fe794964b7462f28409"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6509524feeb70fe794964b7462f28409">&#9670;&nbsp;</a></span>transform() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt;boost::shared_ptr&lt;T&gt; &gt; mrs_lib::Transformer::transform </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>tf</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Transform a variable to new frame using a particular transformation. </p>
+<p>A convenience override for shared pointers.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">tf</td><td>The transformation to be used. </td></tr>
+    <tr><td class="paramname">what</td><td>The object to be transformed.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a8a66075edc7025976292ebd401d7de16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a66075edc7025976292ebd401d7de16">&#9670;&nbsp;</a></span>transform() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; T &gt; mrs_lib::Transformer::transform </td>
+          <td>(</td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>tf</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transform a variable to new frame using a particular transformation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">tf</td><td>The transformation to be used. </td></tr>
+    <tr><td class="paramname">what</td><td>The object to be transformed.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="ae56ae48888d4fcaf21c912ed491b35d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae56ae48888d4fcaf21c912ed491b35d1">&#9670;&nbsp;</a></span>transformAsPoint() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; Eigen::Vector3d &gt; mrs_lib::Transformer::transformAsPoint </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>tf</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transform an Eigen::Vector3d (interpreting it as a point). </p>
+<p>Both the rotation and translation will be applied to the variable.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">tf</td><td>The transformation to be used. </td></tr>
+    <tr><td class="paramname">what</td><td>The object to be transformed.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="ab1533c559b6c94b406322bfbfc700ef7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1533c559b6c94b406322bfbfc700ef7">&#9670;&nbsp;</a></span>transformAsPoint() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; Eigen::Vector3d &gt; mrs_lib::Transformer::transformAsPoint </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>time_stamp</em> = <code>ros::Time(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transform an Eigen::Vector3d (interpreting it as a point). </p>
+<p>Both the rotation and translation will be applied to the variable.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>The current frame of <code>what</code>. </td></tr>
+    <tr><td class="paramname">what</td><td>The object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>The desired frame of <code>what</code>. </td></tr>
+    <tr><td class="paramname">time_stamp</td><td>From which time to take the transformation (use <code>ros::Time(0)</code> for the latest time).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="af17729e67e82876f6bbce2d5cec55613"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af17729e67e82876f6bbce2d5cec55613">&#9670;&nbsp;</a></span>transformAsVector() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; Eigen::Vector3d &gt; mrs_lib::Transformer::transformAsVector </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const geometry_msgs::TransformStamped &amp;&#160;</td>
+          <td class="paramname"><em>tf</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transform an Eigen::Vector3d (interpreting it as a vector). </p>
+<p>Only the rotation will be applied to the variable.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">tf</td><td>The transformation to be used. </td></tr>
+    <tr><td class="paramname">what</td><td>The vector to be transformed.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a1c71e387e846a2591616e83a88071d24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c71e387e846a2591616e83a88071d24">&#9670;&nbsp;</a></span>transformAsVector() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; Eigen::Vector3d &gt; mrs_lib::Transformer::transformAsVector </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>time_stamp</em> = <code>ros::Time(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transform an Eigen::Vector3d (interpreting it as a vector). </p>
+<p>Only the rotation will be applied to the variable.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>The current frame of <code>what</code>. </td></tr>
+    <tr><td class="paramname">what</td><td>The vector to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>The desired frame of <code>what</code>. </td></tr>
+    <tr><td class="paramname">time_stamp</td><td>From which time to take the transformation (use <code>ros::Time(0)</code> for the latest time).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a2c45ff29ac5f482ba9b9c2537d82b8fb"></a>
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+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt;boost::shared_ptr&lt;T&gt; &gt; mrs_lib::Transformer::transformSingle </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; const T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Transforms a single variable to a new frame. </p>
+<p>A convenience override for shared pointers to const.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">what</td><td>The object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>The target fram ID.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a58e8e6d80098e192a0d415a14c6deec0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58e8e6d80098e192a0d415a14c6deec0">&#9670;&nbsp;</a></span>transformSingle() <span class="overload">[2/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt;boost::shared_ptr&lt;T&gt; &gt; mrs_lib::Transformer::transformSingle </td>
+          <td>(</td>
+          <td class="paramtype">const boost::shared_ptr&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Transforms a single variable to a new frame. </p>
+<p>A convenience override for shared pointers.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">what</td><td>The object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>The target fram ID.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a4d01ec1804bb492694d328704dada907"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d01ec1804bb492694d328704dada907">&#9670;&nbsp;</a></span>transformSingle() <span class="overload">[3/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt;boost::shared_ptr&lt;T&gt; &gt; mrs_lib::Transformer::transformSingle </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const boost::shared_ptr&lt; const T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>time_stamp</em> = <code>ros::Time(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Transforms a single variable to a new frame and returns it or <code>std::nullopt</code> if transformation fails. </p>
+<p>A convenience overload for shared pointers to const headerless variables.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>the original target frame ID. </td></tr>
+    <tr><td class="paramname">what</td><td>the object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>the target frame ID. </td></tr>
+    <tr><td class="paramname">time_stamp</td><td>the time of the transformation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a5afde5d58bc9a558cba5da9e0c2d4d1b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5afde5d58bc9a558cba5da9e0c2d4d1b">&#9670;&nbsp;</a></span>transformSingle() <span class="overload">[4/6]</span></h2>
+
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt;boost::shared_ptr&lt;T&gt; &gt; mrs_lib::Transformer::transformSingle </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const boost::shared_ptr&lt; T &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>time_stamp</em> = <code>ros::Time(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Transforms a single variable to a new frame and returns it or <code>std::nullopt</code> if transformation fails. </p>
+<p>A convenience overload for shared pointers to headerless variables.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>the original target frame ID. </td></tr>
+    <tr><td class="paramname">what</td><td>the object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>the target frame ID. </td></tr>
+    <tr><td class="paramname">time_stamp</td><td>the time of the transformation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a7cea399425c4a51a676ba5aa285612d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cea399425c4a51a676ba5aa285612d4">&#9670;&nbsp;</a></span>transformSingle() <span class="overload">[5/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::optional&lt; T &gt; mrs_lib::Transformer::transformSingle </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>from_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Time &amp;&#160;</td>
+          <td class="paramname"><em>time_stamp</em> = <code>ros::Time(0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transforms a single variable to a new frame and returns it or <code>std::nullopt</code> if transformation fails. </p>
+<p>A convenience overload for headerless variables.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from_frame</td><td>the original target frame ID. </td></tr>
+    <tr><td class="paramname">what</td><td>the object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>the target frame ID. </td></tr>
+    <tr><td class="paramname">time_stamp</td><td>the time of the transformation.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<a id="a623af4e8100b71ac700ad5ffac96d2e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a623af4e8100b71ac700ad5ffac96d2e2">&#9670;&nbsp;</a></span>transformSingle() <span class="overload">[6/6]</span></h2>
+
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+          <td>(</td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>to_frame</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Transforms a single variable to a new frame and returns it or <code>std::nullopt</code> if transformation fails. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">what</td><td>the object to be transformed. </td></tr>
+    <tr><td class="paramname">to_frame</td><td>the target frame ID.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>std::nullopt</code> if failed, optional containing the transformed object otherwise. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="transformer_8h_source.html">transformer.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="transformer_8hpp_source.html">transformer.hpp</a></li>
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#ae5a0eb2f31131ed4cec117d4a1000080">Base_class</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeInverse</b>(const Pzz_t &amp;Pzz) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeKalmanGain</b>([[maybe_unused]] const x_t &amp;x, [[maybe_unused]] const z_t &amp;inn, const K_t &amp;Pxz, const Pzz_t &amp;Pzz) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computePaSqrt</b>(const P_t &amp;P) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>computeSigmas</b>(const x_t &amp;x, const P_t &amp;P) const (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeWeights</b>() (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">m</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_alpha</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_beta</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_kappa</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_lambda</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_observation_model</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_transition_model</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m_Wc</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>m_Wm</b> (defined in <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">P_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">Q_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">R_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">setConstants</a>(const double alpha, const double kappa, const double beta)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">setObservationModel</a>(const observation_model_t &amp;observation_model)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">setTransitionModel</a>(const transition_model_t &amp;transition_model)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">u_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">UKF</a>(const transition_model_t &amp;transition_model, const observation_model_t &amp;observation_model, const double alpha=1e-3, const double kappa=1, const double beta=2)</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">x_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">Z_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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diff --git a/classmrs__lib_1_1UKF.html b/classmrs__lib_1_1UKF.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="classmrs__lib_1_1UKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the Unscented Kalman filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>.  
+ <a href="classmrs__lib_1_1UKF.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="ukf_8h_source.html">ukf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1UKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" id="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map">
+<area shape="rect" title="Implementation of the Unscented Kalman filter ." alt="" coords="5,109,223,151"/>
+<area shape="rect" href="classmrs__lib_1_1NCUKF.html" title=" " alt="" coords="5,199,223,240"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="33,5,195,61"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1UKF__coll__graph.png" border="0" usemap="#mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map" id="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_coll__map">
+<area shape="rect" title="Implementation of the Unscented Kalman filter ." alt="" coords="5,109,223,151"/>
+<area shape="rect" href="classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="33,5,195,61"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">inverse_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when taking the inverse of a matrix fails during kalman gain calculation  <a href="structmrs__lib_1_1UKF_1_1inverse__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1UKF_1_1square__root__exception.html">square_root_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when taking the square root of a matrix fails during sigma generation  <a href="structmrs__lib_1_1UKF_1_1square__root__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a5ab9d25f7b2470c7abeacda7f8b80630"><td class="memItemLeft" align="right" valign="top"><a id="a5ab9d25f7b2470c7abeacda7f8b80630"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">x_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">Base_class::x_t</a></td></tr>
+<tr class="memdesc:a5ab9d25f7b2470c7abeacda7f8b80630"><td class="mdescLeft">&#160;</td><td class="mdescRight">state vector n*1 typedef <br /></td></tr>
+<tr class="separator:a5ab9d25f7b2470c7abeacda7f8b80630"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6589d6a1f5eba355f1bec91e99826b71"><td class="memItemLeft" align="right" valign="top"><a id="a6589d6a1f5eba355f1bec91e99826b71"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">u_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">Base_class::u_t</a></td></tr>
+<tr class="memdesc:a6589d6a1f5eba355f1bec91e99826b71"><td class="mdescLeft">&#160;</td><td class="mdescRight">input vector m*1 typedef <br /></td></tr>
+<tr class="separator:a6589d6a1f5eba355f1bec91e99826b71"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a68877ffa7bd8bb10f16d1f104e0a73"><td class="memItemLeft" align="right" valign="top"><a id="a7a68877ffa7bd8bb10f16d1f104e0a73"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">z_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">Base_class::z_t</a></td></tr>
+<tr class="memdesc:a7a68877ffa7bd8bb10f16d1f104e0a73"><td class="mdescLeft">&#160;</td><td class="mdescRight">measurement vector p*1 typedef <br /></td></tr>
+<tr class="separator:a7a68877ffa7bd8bb10f16d1f104e0a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac1128f5d7fa36305a52859a752a97fda"><td class="memItemLeft" align="right" valign="top"><a id="ac1128f5d7fa36305a52859a752a97fda"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">P_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">Base_class::P_t</a></td></tr>
+<tr class="memdesc:ac1128f5d7fa36305a52859a752a97fda"><td class="mdescLeft">&#160;</td><td class="mdescRight">state covariance n*n typedef <br /></td></tr>
+<tr class="separator:ac1128f5d7fa36305a52859a752a97fda"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af0d9a246df0798b1cb1308cec82fd2"><td class="memItemLeft" align="right" valign="top"><a id="a0af0d9a246df0798b1cb1308cec82fd2"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">R_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">Base_class::R_t</a></td></tr>
+<tr class="memdesc:a0af0d9a246df0798b1cb1308cec82fd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">measurement covariance p*p typedef <br /></td></tr>
+<tr class="separator:a0af0d9a246df0798b1cb1308cec82fd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd8f845f1b3f138949bd95c7dc12e011"><td class="memItemLeft" align="right" valign="top"><a id="abd8f845f1b3f138949bd95c7dc12e011"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">Q_t</a> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Base_class::Q_t</a></td></tr>
+<tr class="memdesc:abd8f845f1b3f138949bd95c7dc12e011"><td class="mdescLeft">&#160;</td><td class="mdescRight">process covariance n*n typedef <br /></td></tr>
+<tr class="separator:abd8f845f1b3f138949bd95c7dc12e011"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca628bd6d14b59b9d0a10652a2665a32"><td class="memItemLeft" align="right" valign="top"><a id="aca628bd6d14b59b9d0a10652a2665a32"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a> = typename Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a>, 1 &gt;</td></tr>
+<tr class="memdesc:aca628bd6d14b59b9d0a10652a2665a32"><td class="mdescLeft">&#160;</td><td class="mdescRight">weights vector (2n+1)*1 typedef <br /></td></tr>
+<tr class="separator:aca628bd6d14b59b9d0a10652a2665a32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a604c0bfee69ee5a34dc4412af3cc6e53"><td class="memItemLeft" align="right" valign="top"><a id="a604c0bfee69ee5a34dc4412af3cc6e53"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> = typename <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">Base_class::statecov_t</a></td></tr>
+<tr class="memdesc:a604c0bfee69ee5a34dc4412af3cc6e53"><td class="mdescLeft">&#160;</td><td class="mdescRight">typedef of a helper struct for state and covariance <br /></td></tr>
+<tr class="separator:a604c0bfee69ee5a34dc4412af3cc6e53"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a986f17f015282a33b140af4adabce091"><td class="memItemLeft" align="right" valign="top"><a id="a986f17f015282a33b140af4adabce091"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> = typename std::function&lt; <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>(const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;, double)&gt;</td></tr>
+<tr class="memdesc:a986f17f015282a33b140af4adabce091"><td class="mdescLeft">&#160;</td><td class="mdescRight">function of the state transition model typedef <br /></td></tr>
+<tr class="separator:a986f17f015282a33b140af4adabce091"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac515ea8c688d7ee67250c384417f9ab9"><td class="memItemLeft" align="right" valign="top"><a id="ac515ea8c688d7ee67250c384417f9ab9"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> = typename std::function&lt; <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>(const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;)&gt;</td></tr>
+<tr class="memdesc:ac515ea8c688d7ee67250c384417f9ab9"><td class="mdescLeft">&#160;</td><td class="mdescRight">function of the observation model typedef <br /></td></tr>
+<tr class="separator:ac515ea8c688d7ee67250c384417f9ab9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:acf37d546ec0e03f1ef4c031f96057733"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF</a> ()</td></tr>
+<tr class="memdesc:acf37d546ec0e03f1ef4c031f96057733"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">More...</a><br /></td></tr>
+<tr class="separator:acf37d546ec0e03f1ef4c031f96057733"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43f196bc0b8ef4dd75feba3b025576cb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">UKF</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> &amp;transition_model, const <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> &amp;observation_model, const double alpha=1e-3, const double kappa=1, const double beta=2)</td></tr>
+<tr class="memdesc:a43f196bc0b8ef4dd75feba3b025576cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">More...</a><br /></td></tr>
+<tr class="separator:a43f196bc0b8ef4dd75feba3b025576cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad31a0a6b6c1ea433daa0bae83e6fb6e4"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">correct</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
+<tr class="memdesc:ad31a0a6b6c1ea433daa0bae83e6fb6e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implements the state correction step (measurement update).  <a href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">More...</a><br /></td></tr>
+<tr class="separator:ad31a0a6b6c1ea433daa0bae83e6fb6e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c9c1e158bb4b6739b8bfdbdc1369c41"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">predict</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const override</td></tr>
+<tr class="memdesc:a4c9c1e158bb4b6739b8bfdbdc1369c41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implements the state prediction step (time update).  <a href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">More...</a><br /></td></tr>
+<tr class="separator:a4c9c1e158bb4b6739b8bfdbdc1369c41"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a646b7755aaa478bb86d89e1923d5ed2a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">setConstants</a> (const double alpha, const double kappa, const double beta)</td></tr>
+<tr class="memdesc:a646b7755aaa478bb86d89e1923d5ed2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the Unscented Transform parameters.  <a href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">More...</a><br /></td></tr>
+<tr class="separator:a646b7755aaa478bb86d89e1923d5ed2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a724d2e508dd45e4e6cb7b08b023cae34"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">setTransitionModel</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> &amp;transition_model)</td></tr>
+<tr class="memdesc:a724d2e508dd45e4e6cb7b08b023cae34"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the transition model function.  <a href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">More...</a><br /></td></tr>
+<tr class="separator:a724d2e508dd45e4e6cb7b08b023cae34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a272c7435d05b9a8867df4bd131f01177"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">setObservationModel</a> (const <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> &amp;observation_model)</td></tr>
+<tr class="memdesc:a272c7435d05b9a8867df4bd131f01177"><td class="mdescLeft">&#160;</td><td class="mdescRight">Changes the observation model function.  <a href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">More...</a><br /></td></tr>
+<tr class="separator:a272c7435d05b9a8867df4bd131f01177"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
+Protected Types</h2></td></tr>
+<tr class="memitem:ae5a0eb2f31131ed4cec117d4a1000080"><td class="memItemLeft" align="right" valign="top"><a id="ae5a0eb2f31131ed4cec117d4a1000080"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#ae5a0eb2f31131ed4cec117d4a1000080">Base_class</a> = <a class="el" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a>&lt; <a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a>, <a class="el" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">m</a>, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a> &gt;</td></tr>
+<tr class="memdesc:ae5a0eb2f31131ed4cec117d4a1000080"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class of this class. <br /></td></tr>
+<tr class="separator:ae5a0eb2f31131ed4cec117d4a1000080"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> = typename Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a>, <a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a> &gt;</td></tr>
+<tr class="memdesc:a1435f2ed4e333151990355813cee95ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">State sigma points matrix. <br /></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">Z_t</a> = typename Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a>, <a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a> &gt;</td></tr>
+<tr class="memdesc:a06a3fae37e8a0613d8169b638c4c0001"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement sigma points matrix. <br /></td></tr>
+<tr class="separator:a06a3fae37e8a0613d8169b638c4c0001"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af11dc75b608a43930e8289c51e8ab7c6"><td class="memItemLeft" align="right" valign="top"><a id="af11dc75b608a43930e8289c51e8ab7c6"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> = typename Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a>, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a> &gt;</td></tr>
+<tr class="memdesc:af11dc75b608a43930e8289c51e8ab7c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pzz helper matrix. <br /></td></tr>
+<tr class="separator:af11dc75b608a43930e8289c51e8ab7c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> = typename Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a>, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a> &gt;</td></tr>
+<tr class="memdesc:ace5416fd8ac52fba822337bceaf751a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix. <br /></td></tr>
+<tr class="separator:ace5416fd8ac52fba822337bceaf751a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a82f19aab6f21c1c8794024b9ae9d88c9"><td class="memItemLeft" align="right" valign="top"><a id="a82f19aab6f21c1c8794024b9ae9d88c9"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>computeWeights</b> ()</td></tr>
+<tr class="separator:a82f19aab6f21c1c8794024b9ae9d88c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2655c5ad51b0a5c3a7e07430637bd216"><td class="memItemLeft" align="right" valign="top"><a id="a2655c5ad51b0a5c3a7e07430637bd216"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeSigmas</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P) const</td></tr>
+<tr class="separator:a2655c5ad51b0a5c3a7e07430637bd216"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2eb18554e24af946d18b3b1f56d6cd9"><td class="memItemLeft" align="right" valign="top"><a id="ac2eb18554e24af946d18b3b1f56d6cd9"></a>
+<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computePaSqrt</b> (const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P) const</td></tr>
+<tr class="separator:ac2eb18554e24af946d18b3b1f56d6cd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d0824ac1a567b4542a6cc26d0672fba"><td class="memItemLeft" align="right" valign="top"><a id="a2d0824ac1a567b4542a6cc26d0672fba"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeInverse</b> (const <a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> &amp;Pzz) const</td></tr>
+<tr class="separator:a2d0824ac1a567b4542a6cc26d0672fba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad22d268a16cf223c7853225038f02ee6"><td class="memItemLeft" align="right" valign="top"><a id="ad22d268a16cf223c7853225038f02ee6"></a>
+virtual <a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>computeKalmanGain</b> ([[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> &amp;x, [[maybe_unused]] const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;inn, const <a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> &amp;Pxz, const <a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> &amp;Pzz) const</td></tr>
+<tr class="separator:ad22d268a16cf223c7853225038f02ee6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a6fc172677f265d23c58dd44d24f9d00a"><td class="memItemLeft" align="right" valign="top"><a id="a6fc172677f265d23c58dd44d24f9d00a"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_alpha</b></td></tr>
+<tr class="separator:a6fc172677f265d23c58dd44d24f9d00a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afc26c675257c6be3eb3d09ac2eece61f"><td class="memItemLeft" align="right" valign="top"><a id="afc26c675257c6be3eb3d09ac2eece61f"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_kappa</b></td></tr>
+<tr class="separator:afc26c675257c6be3eb3d09ac2eece61f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add72fa54f7a0e53cb8d6c804d5bec410"><td class="memItemLeft" align="right" valign="top"><a id="add72fa54f7a0e53cb8d6c804d5bec410"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_beta</b></td></tr>
+<tr class="separator:add72fa54f7a0e53cb8d6c804d5bec410"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b89b8f55bb6574760d2b4eb4281b35a"><td class="memItemLeft" align="right" valign="top"><a id="a6b89b8f55bb6574760d2b4eb4281b35a"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>m_lambda</b></td></tr>
+<tr class="separator:a6b89b8f55bb6574760d2b4eb4281b35a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a135f047421ef49fb886a3259bf545096"><td class="memItemLeft" align="right" valign="top"><a id="a135f047421ef49fb886a3259bf545096"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_Wm</b></td></tr>
+<tr class="separator:a135f047421ef49fb886a3259bf545096"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abecb7ce280f0f1ff79d6b094c7a78299"><td class="memItemLeft" align="right" valign="top"><a id="abecb7ce280f0f1ff79d6b094c7a78299"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_Wc</b></td></tr>
+<tr class="separator:abecb7ce280f0f1ff79d6b094c7a78299"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1ca73c805660d45a2c77393f7a14374"><td class="memItemLeft" align="right" valign="top"><a id="ad1ca73c805660d45a2c77393f7a14374"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_transition_model</b></td></tr>
+<tr class="separator:ad1ca73c805660d45a2c77393f7a14374"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6339fd2d89c4e7223c2646ec7cb490c"><td class="memItemLeft" align="right" valign="top"><a id="af6339fd2d89c4e7223c2646ec7cb490c"></a>
+<a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_observation_model</b></td></tr>
+<tr class="separator:af6339fd2d89c4e7223c2646ec7cb490c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
+Static Protected Attributes</h2></td></tr>
+<tr class="memitem:a42270573cc14c2339a46841a5d3e264e"><td class="memItemLeft" align="right" valign="top"><a id="a42270573cc14c2339a46841a5d3e264e"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a> = n_states</td></tr>
+<tr class="memdesc:a42270573cc14c2339a46841a5d3e264e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the state vector of the system. <br /></td></tr>
+<tr class="separator:a42270573cc14c2339a46841a5d3e264e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a81c0e0d290f9eb1aecd28b0e0fa3b7ce"><td class="memItemLeft" align="right" valign="top"><a id="a81c0e0d290f9eb1aecd28b0e0fa3b7ce"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">m</a> = n_inputs</td></tr>
+<tr class="memdesc:a81c0e0d290f9eb1aecd28b0e0fa3b7ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the input vector of the system. <br /></td></tr>
+<tr class="separator:a81c0e0d290f9eb1aecd28b0e0fa3b7ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0042b2b7c0deb10b5bb2825f10c5d769"><td class="memItemLeft" align="right" valign="top"><a id="a0042b2b7c0deb10b5bb2825f10c5d769"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a> = n_measurements</td></tr>
+<tr class="memdesc:a0042b2b7c0deb10b5bb2825f10c5d769"><td class="mdescLeft">&#160;</td><td class="mdescRight">Length of the measurement vector of the system. <br /></td></tr>
+<tr class="separator:a0042b2b7c0deb10b5bb2825f10c5d769"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2bbb3c02f086402351601ca3c3a4c52f"><td class="memItemLeft" align="right" valign="top"><a id="a2bbb3c02f086402351601ca3c3a4c52f"></a>
+static constexpr int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a> = 2 * <a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a> + 1</td></tr>
+<tr class="memdesc:a2bbb3c02f086402351601ca3c3a4c52f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of sigma points/weights. <br /></td></tr>
+<tr class="separator:a2bbb3c02f086402351601ca3c3a4c52f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+class mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</h3>
+
+<p>Implementation of the Unscented Kalman filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>. </p>
+<p>The Unscented Kalman filter (abbreviated <a class="el" href="classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter .">UKF</a>, <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>) is a variant of the Kalman filter, which may be used for state filtration or estimation of non-linear systems as opposed to the Linear Kalman Filter (which is implemented in <a class="el" href="classmrs__lib_1_1LKF.html">LKF</a>). The <a class="el" href="classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter .">UKF</a> tends to be more accurate than the simpler Extended Kalman Filter, espetially for highly non-linear systems. However, it is generally less stable than the <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a> because of the extra matrix square root in the sigma points calculation, so it is recommended to use <a class="el" href="classmrs__lib_1_1LKF.html" title="Implementation of the Linear Kalman filter .">LKF</a> for linear systems.</p>
+<p>The <a class="el" href="classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter .">UKF</a> C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy, espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of having Eigen::MatrixXd and Eigen::VectorXd everywhere.</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">n_states</td><td>number of states of the system (length of the <img class="formulaInl" alt="$ \mathbf{x} $" src="form_0.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_inputs</td><td>number of inputs of the system (length of the <img class="formulaInl" alt="$ \mathbf{u} $" src="form_1.png"/> vector). </td></tr>
+    <tr><td class="paramname">n_measurements</td><td>number of measurements of the system (length of the <img class="formulaInl" alt="$ \mathbf{z} $" src="form_2.png"/> vector). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="ukf_2example_8cpp-example.html#_a9">ukf/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acf37d546ec0e03f1ef4c031f96057733"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf37d546ec0e03f1ef4c031f96057733">&#9670;&nbsp;</a></span>UKF() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1UKF.html">UKF</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convenience default constructor. </p>
+<p>This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, otherwise the <a class="el" href="classmrs__lib_1_1UKF.html" title="Implementation of the Unscented Kalman filter .">UKF</a> object is invalid (not initialized). </p>
+
+</div>
+</div>
+<a id="a43f196bc0b8ef4dd75feba3b025576cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43f196bc0b8ef4dd75feba3b025576cb">&#9670;&nbsp;</a></span>UKF() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1UKF.html">UKF</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>transition_model</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>observation_model</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>alpha</em> = <code>1e-3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kappa</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>beta</em> = <code>2</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">alpha</td><td>Scaling parameter of the sigma generation (a small positive value, e.g. 1e-3). </td></tr>
+    <tr><td class="paramname">kappa</td><td>Secondary scaling parameter of the sigma generation (usually set to 0 or 1). </td></tr>
+    <tr><td class="paramname">beta</td><td>Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal). </td></tr>
+    <tr><td class="paramname">transition_model</td><td>State transition model function. </td></tr>
+    <tr><td class="paramname">observation_model</td><td>Observation model function. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad31a0a6b6c1ea433daa0bae83e6fb6e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad31a0a6b6c1ea433daa0bae83e6fb6e4">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1UKF.html">UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::correct </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>z</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>R</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements the state correction step (measurement update). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>Previous estimate of the state and covariance. </td></tr>
+    <tr><td class="paramname">z</td><td>Measurement vector. </td></tr>
+    <tr><td class="paramname">R</td><td>Measurement covariance matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after applying the correction step. </dd></dl>
+
+<p>Reimplemented in <a class="el" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>.</p>
+
+</div>
+</div>
+<a id="a4c9c1e158bb4b6739b8bfdbdc1369c41"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c9c1e158bb4b6739b8bfdbdc1369c41">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1UKF.html">UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::predict </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>dt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements the state prediction step (time update). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>Previous estimate of the state and covariance. </td></tr>
+    <tr><td class="paramname">u</td><td>Input vector. </td></tr>
+    <tr><td class="paramname">Q</td><td>Process noise covariance matrix. </td></tr>
+    <tr><td class="paramname">dt</td><td>Duration since the previous estimate. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after applying the correction step. </dd></dl>
+
+</div>
+</div>
+<a id="a646b7755aaa478bb86d89e1923d5ed2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a646b7755aaa478bb86d89e1923d5ed2a">&#9670;&nbsp;</a></span>setConstants()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::setConstants </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>alpha</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kappa</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>beta</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Changes the Unscented Transform parameters. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">alpha</td><td>Scaling parameter of the sigma generation (a small positive value - e.g. 1e-3). </td></tr>
+    <tr><td class="paramname">kappa</td><td>Secondary scaling parameter of the sigma generation (usually set to 0 or 1). </td></tr>
+    <tr><td class="paramname">beta</td><td>Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a272c7435d05b9a8867df4bd131f01177"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a272c7435d05b9a8867df4bd131f01177">&#9670;&nbsp;</a></span>setObservationModel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::setObservationModel </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>observation_model</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Changes the observation model function. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">observation_model</td><td>the new observation model </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a724d2e508dd45e4e6cb7b08b023cae34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a724d2e508dd45e4e6cb7b08b023cae34">&#9670;&nbsp;</a></span>setTransitionModel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a>&lt; n_states, n_inputs, n_measurements &gt;::setTransitionModel </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>transition_model</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Changes the transition model function. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">transition_model</td><td>the new transition model </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="ukf_8h_source.html">ukf.h</a></li>
+<li>include/mrs_lib/impl/<a class="el" href="ukf_8hpp_source.html">ukf.hpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1UKF.html">UKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "predict", "classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41", null ],
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diff --git a/classmrs__lib_1_1UKF__inherit__graph.map b/classmrs__lib_1_1UKF__inherit__graph.map
new file mode 100644
index 00000000..5419e566
--- /dev/null
+++ b/classmrs__lib_1_1UKF__inherit__graph.map
@@ -0,0 +1,5 @@
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+<area shape="rect" id="node2" href="$classmrs__lib_1_1KalmanFilter.html" title="This abstract class defines common interfaces and types for a generic Kalman filter." alt="" coords="33,5,195,61"/>
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diff --git a/classmrs__lib_1_1UKF__inherit__graph.md5 b/classmrs__lib_1_1UKF__inherit__graph.md5
new file mode 100644
index 00000000..1ca0fbd8
--- /dev/null
+++ b/classmrs__lib_1_1UKF__inherit__graph.md5
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+  <div class="headertitle">
+<div class="title">mrs_lib::Vector3Converter Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a69c3a9a8dbcff2876e40d28022c019e3">operator Eigen::Vector3d</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a6f6edf59403aded9e3bffcd603cce5c0">operator geometry_msgs::Vector3</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a96b9daae53786acb4f52e09e8fb7bc8a">operator tf2::Vector3</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">Vector3Converter</a>(const tf2::Vector3 &amp;vector3)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#abf2c3e688787834522c8a99c374f656e">Vector3Converter</a>(const Eigen::Vector3d &amp;vector3)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#aec2780b4e6f0b58ee2c465ab2338df17">Vector3Converter</a>(const geometry_msgs::Vector3 &amp;vector3)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a3936cad709ed1018aba1d05d47639c80">Vector3Converter</a>(const double &amp;x, const double &amp;y, const double &amp;z)</td><td class="entry"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">mrs_lib::Vector3Converter</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1Vector3Converter-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::Vector3Converter Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of vector3 variable.  
+ <a href="classmrs__lib_1_1Vector3Converter.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ac5cf91c41293661ea55749d55aec4d48"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">Vector3Converter</a> (const tf2::Vector3 &amp;vector3)</td></tr>
+<tr class="memdesc:ac5cf91c41293661ea55749d55aec4d48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor with tf2::Vector3.  <a href="classmrs__lib_1_1Vector3Converter.html#ac5cf91c41293661ea55749d55aec4d48">More...</a><br /></td></tr>
+<tr class="separator:ac5cf91c41293661ea55749d55aec4d48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abf2c3e688787834522c8a99c374f656e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#abf2c3e688787834522c8a99c374f656e">Vector3Converter</a> (const Eigen::Vector3d &amp;vector3)</td></tr>
+<tr class="memdesc:abf2c3e688787834522c8a99c374f656e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor with Eigen::Vector3.  <a href="classmrs__lib_1_1Vector3Converter.html#abf2c3e688787834522c8a99c374f656e">More...</a><br /></td></tr>
+<tr class="separator:abf2c3e688787834522c8a99c374f656e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec2780b4e6f0b58ee2c465ab2338df17"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#aec2780b4e6f0b58ee2c465ab2338df17">Vector3Converter</a> (const geometry_msgs::Vector3 &amp;vector3)</td></tr>
+<tr class="memdesc:aec2780b4e6f0b58ee2c465ab2338df17"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor with geometry_msgs::Vector3.  <a href="classmrs__lib_1_1Vector3Converter.html#aec2780b4e6f0b58ee2c465ab2338df17">More...</a><br /></td></tr>
+<tr class="separator:aec2780b4e6f0b58ee2c465ab2338df17"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3936cad709ed1018aba1d05d47639c80"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a3936cad709ed1018aba1d05d47639c80">Vector3Converter</a> (const double &amp;x, const double &amp;y, const double &amp;z)</td></tr>
+<tr class="memdesc:a3936cad709ed1018aba1d05d47639c80"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor with doubles: x, y, z.  <a href="classmrs__lib_1_1Vector3Converter.html#a3936cad709ed1018aba1d05d47639c80">More...</a><br /></td></tr>
+<tr class="separator:a3936cad709ed1018aba1d05d47639c80"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96b9daae53786acb4f52e09e8fb7bc8a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a96b9daae53786acb4f52e09e8fb7bc8a">operator tf2::Vector3</a> () const</td></tr>
+<tr class="memdesc:a96b9daae53786acb4f52e09e8fb7bc8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast overloaded for tf2::Vector3  <a href="classmrs__lib_1_1Vector3Converter.html#a96b9daae53786acb4f52e09e8fb7bc8a">More...</a><br /></td></tr>
+<tr class="separator:a96b9daae53786acb4f52e09e8fb7bc8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a69c3a9a8dbcff2876e40d28022c019e3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a69c3a9a8dbcff2876e40d28022c019e3">operator Eigen::Vector3d</a> () const</td></tr>
+<tr class="memdesc:a69c3a9a8dbcff2876e40d28022c019e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast overloaded for Eigen::Vector3  <a href="classmrs__lib_1_1Vector3Converter.html#a69c3a9a8dbcff2876e40d28022c019e3">More...</a><br /></td></tr>
+<tr class="separator:a69c3a9a8dbcff2876e40d28022c019e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6f6edf59403aded9e3bffcd603cce5c0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html#a6f6edf59403aded9e3bffcd603cce5c0">operator geometry_msgs::Vector3</a> () const</td></tr>
+<tr class="memdesc:a6f6edf59403aded9e3bffcd603cce5c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">typecast overloaded for geometry_msgs::Vector3  <a href="classmrs__lib_1_1Vector3Converter.html#a6f6edf59403aded9e3bffcd603cce5c0">More...</a><br /></td></tr>
+<tr class="separator:a6f6edf59403aded9e3bffcd603cce5c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of vector3 variable. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac5cf91c41293661ea55749d55aec4d48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5cf91c41293661ea55749d55aec4d48">&#9670;&nbsp;</a></span>Vector3Converter() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::Vector3Converter </td>
+          <td>(</td>
+          <td class="paramtype">const tf2::Vector3 &amp;&#160;</td>
+          <td class="paramname"><em>vector3</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor with tf2::Vector3. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">vector3</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abf2c3e688787834522c8a99c374f656e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf2c3e688787834522c8a99c374f656e">&#9670;&nbsp;</a></span>Vector3Converter() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::Vector3Converter </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>vector3</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor with Eigen::Vector3. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">vector3</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aec2780b4e6f0b58ee2c465ab2338df17"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec2780b4e6f0b58ee2c465ab2338df17">&#9670;&nbsp;</a></span>Vector3Converter() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::Vector3Converter </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Vector3 &amp;&#160;</td>
+          <td class="paramname"><em>vector3</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor with geometry_msgs::Vector3. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">vector3</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3936cad709ed1018aba1d05d47639c80"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3936cad709ed1018aba1d05d47639c80">&#9670;&nbsp;</a></span>Vector3Converter() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::Vector3Converter </td>
+          <td>(</td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double &amp;&#160;</td>
+          <td class="paramname"><em>z</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor with doubles: x, y, z. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td></td></tr>
+    <tr><td class="paramname">y</td><td></td></tr>
+    <tr><td class="paramname">z</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a69c3a9a8dbcff2876e40d28022c019e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69c3a9a8dbcff2876e40d28022c019e3">&#9670;&nbsp;</a></span>operator Eigen::Vector3d()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::operator Eigen::Vector3d </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast overloaded for Eigen::Vector3 </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a6f6edf59403aded9e3bffcd603cce5c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f6edf59403aded9e3bffcd603cce5c0">&#9670;&nbsp;</a></span>operator geometry_msgs::Vector3()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::operator geometry_msgs::Vector3 </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast overloaded for geometry_msgs::Vector3 </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a96b9daae53786acb4f52e09e8fb7bc8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96b9daae53786acb4f52e09e8fb7bc8a">&#9670;&nbsp;</a></span>operator tf2::Vector3()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::Vector3Converter::operator tf2::Vector3 </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>typecast overloaded for tf2::Vector3 </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+<li>src/attitude_converter/attitude_converter.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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new file mode 100644
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+[
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+    [ "Vector3Converter", "classmrs__lib_1_1Vector3Converter.html#abf2c3e688787834522c8a99c374f656e", null ],
+    [ "Vector3Converter", "classmrs__lib_1_1Vector3Converter.html#aec2780b4e6f0b58ee2c465ab2338df17", null ],
+    [ "Vector3Converter", "classmrs__lib_1_1Vector3Converter.html#a3936cad709ed1018aba1d05d47639c80", null ],
+    [ "operator Eigen::Vector3d", "classmrs__lib_1_1Vector3Converter.html#a69c3a9a8dbcff2876e40d28022c019e3", null ],
+    [ "operator geometry_msgs::Vector3", "classmrs__lib_1_1Vector3Converter.html#a6f6edf59403aded9e3bffcd603cce5c0", null ],
+    [ "operator tf2::Vector3", "classmrs__lib_1_1Vector3Converter.html#a96b9daae53786acb4f52e09e8fb7bc8a", null ]
+];
\ No newline at end of file
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Member List</title>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::VisualObject Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getColors</b>() const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getID</b>() const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getPoints</b>() const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getType</b>() const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>isTimedOut</b>() const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator&lt;</b>(const VisualObject &amp;other) const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator==</b>(const VisualObject &amp;other) const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>operator&gt;</b>(const VisualObject &amp;other) const (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>VisualObject</b>(const Eigen::Vector3d &amp;point, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const unsigned long &amp;id) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Ray &amp;ray, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const unsigned long &amp;id) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Triangle &amp;triangle, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const unsigned long &amp;id) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Rectangle &amp;rectangle, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const unsigned long &amp;id) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Cuboid &amp;cuboid, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const unsigned long &amp;id) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Ellipse &amp;ellipse, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const unsigned long &amp;id, const int num_points=DEFAULT_ELLIPSE_POINTS) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Cylinder &amp;cylinder, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const bool capped, const unsigned long &amp;id, const int num_sides=DEFAULT_ELLIPSE_POINTS) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>VisualObject</b>(const mrs_lib::geometry::Cone &amp;cone, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const bool capped, const unsigned long &amp;id, const int num_sides=DEFAULT_ELLIPSE_POINTS) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>VisualObject</b>(const mrs_msgs::TrajectoryReference &amp;traj, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const unsigned long &amp;id) (defined in <a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+  <ul>
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<title>mrs_lib: mrs_lib::VisualObject Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1VisualObject-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::VisualObject Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a537ad5e03d10f706e84aeb1a6df41dc2"><td class="memItemLeft" align="right" valign="top"><a id="a537ad5e03d10f706e84aeb1a6df41dc2"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>VisualObject</b> (const Eigen::Vector3d &amp;point, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const unsigned long &amp;id)</td></tr>
+<tr class="separator:a537ad5e03d10f706e84aeb1a6df41dc2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+&#160;</td><td class="memItemRight" valign="bottom"><b>VisualObject</b> (const <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a> &amp;cuboid, const double r, const double g, const double b, const double a, const ros::Duration &amp;timeout, const bool filled, const unsigned long &amp;id)</td></tr>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+ </tbody>
+</table>
+</div>
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+<div class="title">mrs_lib::geometry::Cone Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">center</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399">Cone</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a078bc613852240cbf2a0adb086d3d127">Cone</a>(Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d orientation)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">direction</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">getCap</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">h</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">origin</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279">projectPoint</a>(const Eigen::Vector3d &amp;point) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">theta</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586">~Cone</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: mrs_lib::geometry::Cone Class Reference</title>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Cone-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Cone Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representaiton of a cone  
+ <a href="classmrs__lib_1_1geometry_1_1Cone.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a27103a8552d930ae3a3a2513990d9399"><td class="memItemLeft" align="right" valign="top"><a id="a27103a8552d930ae3a3a2513990d9399"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399">Cone</a> ()</td></tr>
+<tr class="memdesc:a27103a8552d930ae3a3a2513990d9399"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor without setting the internal variables <br /></td></tr>
+<tr class="separator:a27103a8552d930ae3a3a2513990d9399"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae687be891abfb2db67245cd2c13f8586"><td class="memItemLeft" align="right" valign="top"><a id="ae687be891abfb2db67245cd2c13f8586"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586">~Cone</a> ()</td></tr>
+<tr class="memdesc:ae687be891abfb2db67245cd2c13f8586"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:ae687be891abfb2db67245cd2c13f8586"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a078bc613852240cbf2a0adb086d3d127"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a078bc613852240cbf2a0adb086d3d127">Cone</a> (Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d orientation)</td></tr>
+<tr class="memdesc:a078bc613852240cbf2a0adb086d3d127"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor from a given origin point (tip of the cone), angle, height and orientation  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a078bc613852240cbf2a0adb086d3d127">More...</a><br /></td></tr>
+<tr class="separator:a078bc613852240cbf2a0adb086d3d127"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35b559777042218051ff46c3b7353232"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">origin</a> () const</td></tr>
+<tr class="memdesc:a35b559777042218051ff46c3b7353232"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the tip point  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">More...</a><br /></td></tr>
+<tr class="separator:a35b559777042218051ff46c3b7353232"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa973eb3025776015d9e542af7aea730f"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">direction</a> () const</td></tr>
+<tr class="memdesc:aa973eb3025776015d9e542af7aea730f"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the direction. Normalized direction from origin towards base  <a href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">More...</a><br /></td></tr>
+<tr class="separator:aa973eb3025776015d9e542af7aea730f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2553c04b3dfef8dfceb938699e11f432"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">center</a> () const</td></tr>
+<tr class="memdesc:a2553c04b3dfef8dfceb938699e11f432"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the center point. Center point lies in half of the body height  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">More...</a><br /></td></tr>
+<tr class="separator:a2553c04b3dfef8dfceb938699e11f432"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a708721c0fde7cb53e7ba4e585a2d5743"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">theta</a> () const</td></tr>
+<tr class="memdesc:a708721c0fde7cb53e7ba4e585a2d5743"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for angle between body height and body side  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">More...</a><br /></td></tr>
+<tr class="separator:a708721c0fde7cb53e7ba4e585a2d5743"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a319fa2045f6d56c94f3fa198bd7ae7fc"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">h</a> () const</td></tr>
+<tr class="memdesc:a319fa2045f6d56c94f3fa198bd7ae7fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for body height  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">More...</a><br /></td></tr>
+<tr class="separator:a319fa2045f6d56c94f3fa198bd7ae7fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2e0546bb5ccb22ee88f1056dccc9a488"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">getCap</a> () const</td></tr>
+<tr class="memdesc:a2e0546bb5ccb22ee88f1056dccc9a488"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the cap of the cone  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">More...</a><br /></td></tr>
+<tr class="separator:a2e0546bb5ccb22ee88f1056dccc9a488"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80223a2934d899aead407545c044e279"><td class="memItemLeft" align="right" valign="top">const std::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279">projectPoint</a> (const Eigen::Vector3d &amp;point) const</td></tr>
+<tr class="memdesc:a80223a2934d899aead407545c044e279"><td class="mdescLeft">&#160;</td><td class="mdescRight">Project a 3D point orthogonally onto the <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html" title="geometric representaiton of a cone">Cone</a> surface.  <a href="classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279">More...</a><br /></td></tr>
+<tr class="separator:a80223a2934d899aead407545c044e279"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representaiton of a cone </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a078bc613852240cbf2a0adb086d3d127"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a078bc613852240cbf2a0adb086d3d127">&#9670;&nbsp;</a></span>Cone()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Cone::Cone </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>origin_point</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>angle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>height</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>orientation</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor from a given origin point (tip of the cone), angle, height and orientation </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">origin_point</td><td>tip of the cone </td></tr>
+    <tr><td class="paramname">angle</td><td>angle between body height and side in radians </td></tr>
+    <tr><td class="paramname">height</td><td>distance between tip and base </td></tr>
+    <tr><td class="paramname">orientation</td><td>offset from the default orientation. Default orientation is with body height aligned with Z axis, standing on the tip </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2553c04b3dfef8dfceb938699e11f432"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2553c04b3dfef8dfceb938699e11f432">&#9670;&nbsp;</a></span>center()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Cone::center </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the center point. Center point lies in half of the body height </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="aa973eb3025776015d9e542af7aea730f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa973eb3025776015d9e542af7aea730f">&#9670;&nbsp;</a></span>direction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Cone::direction </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the direction. Normalized direction from origin towards base </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3, normalized </dd></dl>
+
+</div>
+</div>
+<a id="a2e0546bb5ccb22ee88f1056dccc9a488"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e0546bb5ccb22ee88f1056dccc9a488">&#9670;&nbsp;</a></span>getCap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a> mrs_lib::geometry::Cone::getCap </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the cap of the cone </p>
+<dl class="section return"><dt>Returns</dt><dd>ellipse representing the cap of the cone </dd></dl>
+
+</div>
+</div>
+<a id="a319fa2045f6d56c94f3fa198bd7ae7fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a319fa2045f6d56c94f3fa198bd7ae7fc">&#9670;&nbsp;</a></span>h()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::Cone::h </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for body height </p>
+<dl class="section return"><dt>Returns</dt><dd></dd></dl>
+
+</div>
+</div>
+<a id="a35b559777042218051ff46c3b7353232"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35b559777042218051ff46c3b7353232">&#9670;&nbsp;</a></span>origin()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Cone::origin </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the tip point </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a80223a2934d899aead407545c044e279"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80223a2934d899aead407545c044e279">&#9670;&nbsp;</a></span>projectPoint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::optional&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Cone::projectPoint </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>point</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Project a 3D point orthogonally onto the <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html" title="geometric representaiton of a cone">Cone</a> surface. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">point</td><td>in 3D</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>projected point </dd></dl>
+
+</div>
+</div>
+<a id="a708721c0fde7cb53e7ba4e585a2d5743"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a708721c0fde7cb53e7ba4e585a2d5743">&#9670;&nbsp;</a></span>theta()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::Cone::theta </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for angle between body height and body side </p>
+<dl class="section return"><dt>Returns</dt><dd>angle in radians </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
+</ul>
+</div><!-- contents -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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new file mode 100644
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+++ b/classmrs__lib_1_1geometry_1_1Cone.js
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+var classmrs__lib_1_1geometry_1_1Cone =
+[
+    [ "Cone", "classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399", null ],
+    [ "~Cone", "classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586", null ],
+    [ "Cone", "classmrs__lib_1_1geometry_1_1Cone.html#a078bc613852240cbf2a0adb086d3d127", null ],
+    [ "center", "classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432", null ],
+    [ "direction", "classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f", null ],
+    [ "getCap", "classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488", null ],
+    [ "h", "classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc", null ],
+    [ "origin", "classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232", null ],
+    [ "projectPoint", "classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279", null ],
+    [ "theta", "classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743", null ]
+];
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+$(document).ready(function(){initNavTree('classmrs__lib_1_1geometry_1_1Cuboid.html',''); initResizable(); });
+/* @license-end */
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Cuboid Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">center</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a31a698a34b8443596be58a06f3046c79">Cuboid</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a1dfbd69913658cddfc2394d8cfed8215">Cuboid</a>(Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6, Eigen::Vector3d p7)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#adcacc925347e73dbfd81529842ff3c21">Cuboid</a>(std::vector&lt; Eigen::Vector3d &gt; points)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a34b3cc64de7244e0b3ac2f71cdb22d95">Cuboid</a>(Eigen::Vector3d center, Eigen::Vector3d size, Eigen::Quaterniond orientation)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb">getRectangle</a>(int face_idx) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#adfde2a501c9806bd6e6e99dcf0cac6ff">intersectionRay</a>(Ray r, double epsilon=1e-4) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2">vertices</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a5a78508d282bd8d273d97f3055ae0357">~Cuboid</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1geometry_1_1Cuboid.html b/classmrs__lib_1_1geometry_1_1Cuboid.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Cuboid-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Cuboid Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representation of a cuboid  
+ <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a31a698a34b8443596be58a06f3046c79"><td class="memItemLeft" align="right" valign="top"><a id="a31a698a34b8443596be58a06f3046c79"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a31a698a34b8443596be58a06f3046c79">Cuboid</a> ()</td></tr>
+<tr class="memdesc:a31a698a34b8443596be58a06f3046c79"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor for initialization with all points set to [0,0,0] <br /></td></tr>
+<tr class="separator:a31a698a34b8443596be58a06f3046c79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a78508d282bd8d273d97f3055ae0357"><td class="memItemLeft" align="right" valign="top"><a id="a5a78508d282bd8d273d97f3055ae0357"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a5a78508d282bd8d273d97f3055ae0357">~Cuboid</a> ()</td></tr>
+<tr class="memdesc:a5a78508d282bd8d273d97f3055ae0357"><td class="mdescLeft">&#160;</td><td class="mdescRight">virtual destructor <br /></td></tr>
+<tr class="separator:a5a78508d282bd8d273d97f3055ae0357"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1dfbd69913658cddfc2394d8cfed8215"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a1dfbd69913658cddfc2394d8cfed8215">Cuboid</a> (Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6, Eigen::Vector3d p7)</td></tr>
+<tr class="memdesc:a1dfbd69913658cddfc2394d8cfed8215"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor from six provided points (vector3)  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a1dfbd69913658cddfc2394d8cfed8215">More...</a><br /></td></tr>
+<tr class="separator:a1dfbd69913658cddfc2394d8cfed8215"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adcacc925347e73dbfd81529842ff3c21"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#adcacc925347e73dbfd81529842ff3c21">Cuboid</a> (std::vector&lt; Eigen::Vector3d &gt; points)</td></tr>
+<tr class="memdesc:adcacc925347e73dbfd81529842ff3c21"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor from a std::vector of provided points  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#adcacc925347e73dbfd81529842ff3c21">More...</a><br /></td></tr>
+<tr class="separator:adcacc925347e73dbfd81529842ff3c21"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a34b3cc64de7244e0b3ac2f71cdb22d95"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a34b3cc64de7244e0b3ac2f71cdb22d95">Cuboid</a> (Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">center</a>, Eigen::Vector3d size, Eigen::Quaterniond orientation)</td></tr>
+<tr class="memdesc:a34b3cc64de7244e0b3ac2f71cdb22d95"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor from a provided center point, size and orientation  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a34b3cc64de7244e0b3ac2f71cdb22d95">More...</a><br /></td></tr>
+<tr class="separator:a34b3cc64de7244e0b3ac2f71cdb22d95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae03413de879b1dd07df7a8f26b0a75f2"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2">vertices</a> () const</td></tr>
+<tr class="memdesc:ae03413de879b1dd07df7a8f26b0a75f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for all vertices (vector3) of this cuboid  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2">More...</a><br /></td></tr>
+<tr class="separator:ae03413de879b1dd07df7a8f26b0a75f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ce6626c7018bdae2722073490c1729f"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">center</a> () const</td></tr>
+<tr class="memdesc:a7ce6626c7018bdae2722073490c1729f"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the center point  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">More...</a><br /></td></tr>
+<tr class="separator:a7ce6626c7018bdae2722073490c1729f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4279ad2916689b183e9647fbede9bcfb"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">Rectangle</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb">getRectangle</a> (int face_idx) const</td></tr>
+<tr class="memdesc:a4279ad2916689b183e9647fbede9bcfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for one side corresponding to a provided index  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb">More...</a><br /></td></tr>
+<tr class="separator:a4279ad2916689b183e9647fbede9bcfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adfde2a501c9806bd6e6e99dcf0cac6ff"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#adfde2a501c9806bd6e6e99dcf0cac6ff">intersectionRay</a> (<a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> r, double epsilon=1e-4) const</td></tr>
+<tr class="memdesc:adfde2a501c9806bd6e6e99dcf0cac6ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate the intersection between this cuboid and a provided ray within a given tolerance. Can result in 0, 1 or 2 intersection points  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#adfde2a501c9806bd6e6e99dcf0cac6ff">More...</a><br /></td></tr>
+<tr class="separator:adfde2a501c9806bd6e6e99dcf0cac6ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representation of a cuboid </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1dfbd69913658cddfc2394d8cfed8215"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1dfbd69913658cddfc2394d8cfed8215">&#9670;&nbsp;</a></span>Cuboid() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Cuboid::Cuboid </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p3</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p4</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p5</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p6</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p7</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor from six provided points (vector3) </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">p0</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p1</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p2</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p3</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p4</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p5</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p6</td><td>vector3 </td></tr>
+    <tr><td class="paramname">p7</td><td>vector3 </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="adcacc925347e73dbfd81529842ff3c21"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcacc925347e73dbfd81529842ff3c21">&#9670;&nbsp;</a></span>Cuboid() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Cuboid::Cuboid </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; Eigen::Vector3d &gt;&#160;</td>
+          <td class="paramname"><em>points</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor from a std::vector of provided points </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>std::vector&lt;vector3&gt; </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a34b3cc64de7244e0b3ac2f71cdb22d95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34b3cc64de7244e0b3ac2f71cdb22d95">&#9670;&nbsp;</a></span>Cuboid() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Cuboid::Cuboid </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>center</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Quaterniond&#160;</td>
+          <td class="paramname"><em>orientation</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor from a provided center point, size and orientation </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">center</td><td>vector3 </td></tr>
+    <tr><td class="paramname">size</td><td>vector3 </td></tr>
+    <tr><td class="paramname">orientation</td><td>quaternion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7ce6626c7018bdae2722073490c1729f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ce6626c7018bdae2722073490c1729f">&#9670;&nbsp;</a></span>center()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Cuboid::center </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the center point </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a4279ad2916689b183e9647fbede9bcfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4279ad2916689b183e9647fbede9bcfb">&#9670;&nbsp;</a></span>getRectangle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">Rectangle</a> mrs_lib::geometry::Cuboid::getRectangle </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>face_idx</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for one side corresponding to a provided index </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">face_idx</td><td>index of the side to lookup points for</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rectangle representing the cuboid side </dd></dl>
+
+</div>
+</div>
+<a id="adfde2a501c9806bd6e6e99dcf0cac6ff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adfde2a501c9806bd6e6e99dcf0cac6ff">&#9670;&nbsp;</a></span>intersectionRay()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Cuboid::intersectionRay </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a>&#160;</td>
+          <td class="paramname"><em>r</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>epsilon</em> = <code>1e-4</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>calculate the intersection between this cuboid and a provided ray within a given tolerance. Can result in 0, 1 or 2 intersection points </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">r</td><td>ray to check intersection with </td></tr>
+    <tr><td class="paramname">epsilon</td><td>tolerance for the calculation</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;vector3&gt; list of intersection points (depending on the geometry, can yield 0, 1 or 2 points) </dd></dl>
+
+</div>
+</div>
+<a id="ae03413de879b1dd07df7a8f26b0a75f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae03413de879b1dd07df7a8f26b0a75f2">&#9670;&nbsp;</a></span>vertices()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Cuboid::vertices </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for all vertices (vector3) of this cuboid </p>
+<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;vector3&gt; </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">Cuboid</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1geometry_1_1Cuboid.js b/classmrs__lib_1_1geometry_1_1Cuboid.js
new file mode 100644
index 00000000..db59ce75
--- /dev/null
+++ b/classmrs__lib_1_1geometry_1_1Cuboid.js
@@ -0,0 +1,12 @@
+var classmrs__lib_1_1geometry_1_1Cuboid =
+[
+    [ "Cuboid", "classmrs__lib_1_1geometry_1_1Cuboid.html#a31a698a34b8443596be58a06f3046c79", null ],
+    [ "~Cuboid", "classmrs__lib_1_1geometry_1_1Cuboid.html#a5a78508d282bd8d273d97f3055ae0357", null ],
+    [ "Cuboid", "classmrs__lib_1_1geometry_1_1Cuboid.html#a1dfbd69913658cddfc2394d8cfed8215", null ],
+    [ "Cuboid", "classmrs__lib_1_1geometry_1_1Cuboid.html#adcacc925347e73dbfd81529842ff3c21", null ],
+    [ "Cuboid", "classmrs__lib_1_1geometry_1_1Cuboid.html#a34b3cc64de7244e0b3ac2f71cdb22d95", null ],
+    [ "center", "classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f", null ],
+    [ "getRectangle", "classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb", null ],
+    [ "intersectionRay", "classmrs__lib_1_1geometry_1_1Cuboid.html#adfde2a501c9806bd6e6e99dcf0cac6ff", null ],
+    [ "vertices", "classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2", null ]
+];
\ No newline at end of file
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: Member List</title>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1geometry_1_1Cylinder.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Cylinder Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>BOTTOM</b> enum value (defined in <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">center</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#ae4b5f3500ae892f398ab88f5e545e0aa">Cylinder</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a868fdc0baa204d3bf78d614b532aa32e">Cylinder</a>(Eigen::Vector3d center, double radius, double height, Eigen::Quaterniond orientation)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">getCap</a>(int index) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">h</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">orientation</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">r</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>TOP</b> enum value (defined in <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9a558196740fd2be133a3c2df7173f4f">~Cylinder</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1geometry_1_1Cylinder.html b/classmrs__lib_1_1geometry_1_1Cylinder.html
new file mode 100644
index 00000000..03601ed4
--- /dev/null
+++ b/classmrs__lib_1_1geometry_1_1Cylinder.html
@@ -0,0 +1,315 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: mrs_lib::geometry::Cylinder Class Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Cylinder-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Cylinder Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representation of a cylinder  
+ <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a5546b5ccb1073d1ced17e242137e9366"><td class="memItemLeft" align="right" valign="top"><a id="a5546b5ccb1073d1ced17e242137e9366"></a>enum &#160;</td><td class="memItemRight" valign="bottom">{ <b>BOTTOM</b> = 0, 
+<b>TOP</b> = 1
+ }</td></tr>
+<tr class="memdesc:a5546b5ccb1073d1ced17e242137e9366"><td class="mdescLeft">&#160;</td><td class="mdescRight">cap indexing <br /></td></tr>
+<tr class="separator:a5546b5ccb1073d1ced17e242137e9366"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae4b5f3500ae892f398ab88f5e545e0aa"><td class="memItemLeft" align="right" valign="top"><a id="ae4b5f3500ae892f398ab88f5e545e0aa"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#ae4b5f3500ae892f398ab88f5e545e0aa">Cylinder</a> ()</td></tr>
+<tr class="memdesc:ae4b5f3500ae892f398ab88f5e545e0aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor without setting the internal variables <br /></td></tr>
+<tr class="separator:ae4b5f3500ae892f398ab88f5e545e0aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a558196740fd2be133a3c2df7173f4f"><td class="memItemLeft" align="right" valign="top"><a id="a9a558196740fd2be133a3c2df7173f4f"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9a558196740fd2be133a3c2df7173f4f">~Cylinder</a> ()</td></tr>
+<tr class="memdesc:a9a558196740fd2be133a3c2df7173f4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:a9a558196740fd2be133a3c2df7173f4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a868fdc0baa204d3bf78d614b532aa32e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a868fdc0baa204d3bf78d614b532aa32e">Cylinder</a> (Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">center</a>, double radius, double height, Eigen::Quaterniond <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">orientation</a>)</td></tr>
+<tr class="memdesc:a868fdc0baa204d3bf78d614b532aa32e"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor using a given center point, radius, height and orietnation  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a868fdc0baa204d3bf78d614b532aa32e">More...</a><br /></td></tr>
+<tr class="separator:a868fdc0baa204d3bf78d614b532aa32e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a766270eba57b916335ad0901fec74355"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">center</a> () const</td></tr>
+<tr class="memdesc:a766270eba57b916335ad0901fec74355"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the center point  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">More...</a><br /></td></tr>
+<tr class="separator:a766270eba57b916335ad0901fec74355"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa7eccea15c92f1df02fc48684bb4d219"><td class="memItemLeft" align="right" valign="top">const Eigen::Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">orientation</a> () const</td></tr>
+<tr class="memdesc:aa7eccea15c92f1df02fc48684bb4d219"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the orientation  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">More...</a><br /></td></tr>
+<tr class="separator:aa7eccea15c92f1df02fc48684bb4d219"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa442455784da2246f8bc25aa0eccadbb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">r</a> () const</td></tr>
+<tr class="memdesc:aa442455784da2246f8bc25aa0eccadbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for cap radius  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">More...</a><br /></td></tr>
+<tr class="separator:aa442455784da2246f8bc25aa0eccadbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a730fee04b106aa4ec3fe08be6bb90751"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">h</a> () const</td></tr>
+<tr class="memdesc:a730fee04b106aa4ec3fe08be6bb90751"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the body height  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">More...</a><br /></td></tr>
+<tr class="separator:a730fee04b106aa4ec3fe08be6bb90751"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9730caea8c6bd44467038a8e04212fe6"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">getCap</a> (int index) const</td></tr>
+<tr class="memdesc:a9730caea8c6bd44467038a8e04212fe6"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for a cap corresponding to a provided index  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">More...</a><br /></td></tr>
+<tr class="separator:a9730caea8c6bd44467038a8e04212fe6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representation of a cylinder </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a868fdc0baa204d3bf78d614b532aa32e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a868fdc0baa204d3bf78d614b532aa32e">&#9670;&nbsp;</a></span>Cylinder()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Cylinder::Cylinder </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>center</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>radius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>height</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Quaterniond&#160;</td>
+          <td class="paramname"><em>orientation</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor using a given center point, radius, height and orietnation </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">center</td><td>geometric center in the middle of body height </td></tr>
+    <tr><td class="paramname">radius</td><td>radius of the cap </td></tr>
+    <tr><td class="paramname">height</td><td>distance between caps </td></tr>
+    <tr><td class="paramname">orientation</td><td>quaternion </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a766270eba57b916335ad0901fec74355"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a766270eba57b916335ad0901fec74355">&#9670;&nbsp;</a></span>center()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Cylinder::center </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the center point </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a9730caea8c6bd44467038a8e04212fe6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9730caea8c6bd44467038a8e04212fe6">&#9670;&nbsp;</a></span>getCap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a> mrs_lib::geometry::Cylinder::getCap </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>index</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for a cap corresponding to a provided index </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">index</td><td>of the cap</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>ellipse representing the cap </dd></dl>
+
+</div>
+</div>
+<a id="a730fee04b106aa4ec3fe08be6bb90751"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a730fee04b106aa4ec3fe08be6bb90751">&#9670;&nbsp;</a></span>h()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::Cylinder::h </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the body height </p>
+<dl class="section return"><dt>Returns</dt><dd>body height </dd></dl>
+
+</div>
+</div>
+<a id="aa7eccea15c92f1df02fc48684bb4d219"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa7eccea15c92f1df02fc48684bb4d219">&#9670;&nbsp;</a></span>orientation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Quaterniond mrs_lib::geometry::Cylinder::orientation </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the orientation </p>
+<dl class="section return"><dt>Returns</dt><dd>quaternion </dd></dl>
+
+</div>
+</div>
+<a id="aa442455784da2246f8bc25aa0eccadbb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa442455784da2246f8bc25aa0eccadbb">&#9670;&nbsp;</a></span>r()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">double mrs_lib::geometry::Cylinder::r </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for cap radius </p>
+<dl class="section return"><dt>Returns</dt><dd>radius of the cap </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Ellipse Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">a</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">b</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">center</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">Ellipse</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ad64c67ccd7e0c21b5698a6791adf6831">Ellipse</a>(Eigen::Vector3d center, Eigen::Quaterniond orientation, double a, double b)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">orientation</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650">~Ellipse</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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diff --git a/classmrs__lib_1_1geometry_1_1Ellipse.html b/classmrs__lib_1_1geometry_1_1Ellipse.html
new file mode 100644
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@@ -0,0 +1,276 @@
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::geometry::Ellipse Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Ellipse-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Ellipse Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representation of an ellipse  
+ <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab891e8f86df11bb34f0571ebeb136c2a"><td class="memItemLeft" align="right" valign="top"><a id="ab891e8f86df11bb34f0571ebeb136c2a"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">Ellipse</a> ()</td></tr>
+<tr class="memdesc:ab891e8f86df11bb34f0571ebeb136c2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor for initialization without setting internal variables <br /></td></tr>
+<tr class="separator:ab891e8f86df11bb34f0571ebeb136c2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a973caa18f7b0c2e41b263a4267914650"><td class="memItemLeft" align="right" valign="top"><a id="a973caa18f7b0c2e41b263a4267914650"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650">~Ellipse</a> ()</td></tr>
+<tr class="memdesc:a973caa18f7b0c2e41b263a4267914650"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:a973caa18f7b0c2e41b263a4267914650"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad64c67ccd7e0c21b5698a6791adf6831"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ad64c67ccd7e0c21b5698a6791adf6831">Ellipse</a> (Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">center</a>, Eigen::Quaterniond <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">orientation</a>, double <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">a</a>, double <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">b</a>)</td></tr>
+<tr class="memdesc:ad64c67ccd7e0c21b5698a6791adf6831"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor using a provided center point, orientation, major semi-axis length and minor semi-axis length  <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#ad64c67ccd7e0c21b5698a6791adf6831">More...</a><br /></td></tr>
+<tr class="separator:ad64c67ccd7e0c21b5698a6791adf6831"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee622887a91b50f8fa8bbd476614006e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">a</a> () const</td></tr>
+<tr class="memdesc:aee622887a91b50f8fa8bbd476614006e"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for major semi-axis  <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">More...</a><br /></td></tr>
+<tr class="separator:aee622887a91b50f8fa8bbd476614006e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab42e4c580aeda44204c5854e1ccd4513"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">b</a> () const</td></tr>
+<tr class="memdesc:ab42e4c580aeda44204c5854e1ccd4513"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for minor semi-axis  <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">More...</a><br /></td></tr>
+<tr class="separator:ab42e4c580aeda44204c5854e1ccd4513"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a058c83435e1cf0f393c1bde54e94f570"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">center</a> () const</td></tr>
+<tr class="memdesc:a058c83435e1cf0f393c1bde54e94f570"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the center point  <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">More...</a><br /></td></tr>
+<tr class="separator:a058c83435e1cf0f393c1bde54e94f570"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a65f59ca228eea37a914ce0d6d6695b2d"><td class="memItemLeft" align="right" valign="top">const Eigen::Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">orientation</a> () const</td></tr>
+<tr class="memdesc:a65f59ca228eea37a914ce0d6d6695b2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the orientation  <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">More...</a><br /></td></tr>
+<tr class="separator:a65f59ca228eea37a914ce0d6d6695b2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representation of an ellipse </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad64c67ccd7e0c21b5698a6791adf6831"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad64c67ccd7e0c21b5698a6791adf6831">&#9670;&nbsp;</a></span>Ellipse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Ellipse::Ellipse </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>center</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Quaterniond&#160;</td>
+          <td class="paramname"><em>orientation</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>b</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor using a provided center point, orientation, major semi-axis length and minor semi-axis length </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">center</td><td>vector3 </td></tr>
+    <tr><td class="paramname">orientation</td><td>quaternion </td></tr>
+    <tr><td class="paramname">a</td><td>major semi-axis length </td></tr>
+    <tr><td class="paramname">b</td><td>minor semi-axis length </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aee622887a91b50f8fa8bbd476614006e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee622887a91b50f8fa8bbd476614006e">&#9670;&nbsp;</a></span>a()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::Ellipse::a </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for major semi-axis </p>
+<dl class="section return"><dt>Returns</dt><dd>length of major semi-axis </dd></dl>
+
+</div>
+</div>
+<a id="ab42e4c580aeda44204c5854e1ccd4513"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab42e4c580aeda44204c5854e1ccd4513">&#9670;&nbsp;</a></span>b()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::Ellipse::b </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for minor semi-axis </p>
+<dl class="section return"><dt>Returns</dt><dd>length of minor semi-axis </dd></dl>
+
+</div>
+</div>
+<a id="a058c83435e1cf0f393c1bde54e94f570"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a058c83435e1cf0f393c1bde54e94f570">&#9670;&nbsp;</a></span>center()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Ellipse::center </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the center point </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a65f59ca228eea37a914ce0d6d6695b2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a65f59ca228eea37a914ce0d6d6695b2d">&#9670;&nbsp;</a></span>orientation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Quaterniond mrs_lib::geometry::Ellipse::orientation </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the orientation </p>
+<dl class="section return"><dt>Returns</dt><dd>quaternion </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
index 00000000..cf01bda4
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+var classmrs__lib_1_1geometry_1_1Ellipse =
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+    [ "~Ellipse", "classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650", null ],
+    [ "Ellipse", "classmrs__lib_1_1geometry_1_1Ellipse.html#ad64c67ccd7e0c21b5698a6791adf6831", null ],
+    [ "a", "classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e", null ],
+    [ "b", "classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513", null ],
+    [ "center", "classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570", null ],
+    [ "orientation", "classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d", null ]
+];
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Ray Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">direction</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ab8ea82597cf6d0eb1e72105c13f41fed">directionCast</a>(Eigen::Vector3d origin, Eigen::Vector3d direction)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">p1</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">p2</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">Ray</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ab7466369083c82552f805fb20a16a8aa">Ray</a>(Eigen::Vector3d p1, Eigen::Vector3d p2)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">twopointCast</a>(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a">~Ray</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/classmrs__lib_1_1geometry_1_1Ray.html b/classmrs__lib_1_1geometry_1_1Ray.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Ray-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Ray Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-to raycast, or a point-direction raycast.  
+ <a href="classmrs__lib_1_1geometry_1_1Ray.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aa0bff9427d14806607b5689f1d71604d"><td class="memItemLeft" align="right" valign="top"><a id="aa0bff9427d14806607b5689f1d71604d"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">Ray</a> ()</td></tr>
+<tr class="memdesc:aa0bff9427d14806607b5689f1d71604d"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor without initialization of internal variables <br /></td></tr>
+<tr class="separator:aa0bff9427d14806607b5689f1d71604d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad79e6fdb9416510694f14fd92ca41c7a"><td class="memItemLeft" align="right" valign="top"><a id="ad79e6fdb9416510694f14fd92ca41c7a"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a">~Ray</a> ()</td></tr>
+<tr class="memdesc:ad79e6fdb9416510694f14fd92ca41c7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:ad79e6fdb9416510694f14fd92ca41c7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab7466369083c82552f805fb20a16a8aa"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ab7466369083c82552f805fb20a16a8aa">Ray</a> (Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">p1</a>, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">p2</a>)</td></tr>
+<tr class="memdesc:ab7466369083c82552f805fb20a16a8aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">default constructor  <a href="classmrs__lib_1_1geometry_1_1Ray.html#ab7466369083c82552f805fb20a16a8aa">More...</a><br /></td></tr>
+<tr class="separator:ab7466369083c82552f805fb20a16a8aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8591c6b82a120832a7ed349fbd90163a"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">p1</a> () const</td></tr>
+<tr class="memdesc:a8591c6b82a120832a7ed349fbd90163a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the origin point  <a href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">More...</a><br /></td></tr>
+<tr class="separator:a8591c6b82a120832a7ed349fbd90163a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c830a43aa9550ef6d7b798dcb69f3f5"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">p2</a> () const</td></tr>
+<tr class="memdesc:a7c830a43aa9550ef6d7b798dcb69f3f5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the end point  <a href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">More...</a><br /></td></tr>
+<tr class="separator:a7c830a43aa9550ef6d7b798dcb69f3f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01b7ff2bb88b61c178f4991c8cd847bf"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">direction</a> () const</td></tr>
+<tr class="memdesc:a01b7ff2bb88b61c178f4991c8cd847bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the direction of ray (normalized)  <a href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">More...</a><br /></td></tr>
+<tr class="separator:a01b7ff2bb88b61c178f4991c8cd847bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4092f0d023b25fcf61fb426c7f0f6630"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">twopointCast</a> (Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)</td></tr>
+<tr class="memdesc:a4092f0d023b25fcf61fb426c7f0f6630"><td class="mdescLeft">&#160;</td><td class="mdescRight">static method for generating new rays by raycasting from-to  <a href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">More...</a><br /></td></tr>
+<tr class="separator:a4092f0d023b25fcf61fb426c7f0f6630"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8ea82597cf6d0eb1e72105c13f41fed"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ab8ea82597cf6d0eb1e72105c13f41fed">directionCast</a> (Eigen::Vector3d origin, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">direction</a>)</td></tr>
+<tr class="memdesc:ab8ea82597cf6d0eb1e72105c13f41fed"><td class="mdescLeft">&#160;</td><td class="mdescRight">static method for generating new rays by raycasting origin-direction  <a href="classmrs__lib_1_1geometry_1_1Ray.html#ab8ea82597cf6d0eb1e72105c13f41fed">More...</a><br /></td></tr>
+<tr class="separator:ab8ea82597cf6d0eb1e72105c13f41fed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-to raycast, or a point-direction raycast. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ab7466369083c82552f805fb20a16a8aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7466369083c82552f805fb20a16a8aa">&#9670;&nbsp;</a></span>Ray()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Ray::Ray </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>p2</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>default constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">p1</td><td>origin of the ray </td></tr>
+    <tr><td class="paramname">p2</td><td>endpoint of the ray </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a01b7ff2bb88b61c178f4991c8cd847bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01b7ff2bb88b61c178f4991c8cd847bf">&#9670;&nbsp;</a></span>direction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Ray::direction </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the direction of ray (normalized) </p>
+<dl class="section return"><dt>Returns</dt><dd>direction (normalized) </dd></dl>
+
+</div>
+</div>
+<a id="ab8ea82597cf6d0eb1e72105c13f41fed"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8ea82597cf6d0eb1e72105c13f41fed">&#9670;&nbsp;</a></span>directionCast()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> mrs_lib::geometry::Ray::directionCast </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>origin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>direction</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>static method for generating new rays by raycasting origin-direction </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">origin</td><td>origin of the ray </td></tr>
+    <tr><td class="paramname">direction</td><td>of the ray</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>new <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html" title="geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-t...">Ray</a> instance created by raycasting </dd></dl>
+
+</div>
+</div>
+<a id="a8591c6b82a120832a7ed349fbd90163a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8591c6b82a120832a7ed349fbd90163a">&#9670;&nbsp;</a></span>p1()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Ray::p1 </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the origin point </p>
+<dl class="section return"><dt>Returns</dt><dd>ray origin point </dd></dl>
+
+</div>
+</div>
+<a id="a7c830a43aa9550ef6d7b798dcb69f3f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c830a43aa9550ef6d7b798dcb69f3f5">&#9670;&nbsp;</a></span>p2()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Ray::p2 </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get the end point </p>
+<dl class="section return"><dt>Returns</dt><dd>ray end point </dd></dl>
+
+</div>
+</div>
+<a id="a4092f0d023b25fcf61fb426c7f0f6630"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4092f0d023b25fcf61fb426c7f0f6630">&#9670;&nbsp;</a></span>twopointCast()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> mrs_lib::geometry::Ray::twopointCast </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>pointFrom</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>pointTo</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>static method for generating new rays by raycasting from-to </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pointFrom</td><td>origin of the ray </td></tr>
+    <tr><td class="paramname">pointTo</td><td>endpoint of the ray</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>new <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html" title="geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-t...">Ray</a> instance created by raycasting </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1geometry_1_1Ray.js b/classmrs__lib_1_1geometry_1_1Ray.js
new file mode 100644
index 00000000..27db87bf
--- /dev/null
+++ b/classmrs__lib_1_1geometry_1_1Ray.js
@@ -0,0 +1,9 @@
+var classmrs__lib_1_1geometry_1_1Ray =
+[
+    [ "Ray", "classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d", null ],
+    [ "~Ray", "classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a", null ],
+    [ "Ray", "classmrs__lib_1_1geometry_1_1Ray.html#ab7466369083c82552f805fb20a16a8aa", null ],
+    [ "direction", "classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf", null ],
+    [ "p1", "classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a", null ],
+    [ "p2", "classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5", null ]
+];
\ No newline at end of file
diff --git a/classmrs__lib_1_1geometry_1_1Rectangle-members.html b/classmrs__lib_1_1geometry_1_1Rectangle-members.html
new file mode 100644
index 00000000..f2045511
--- /dev/null
+++ b/classmrs__lib_1_1geometry_1_1Rectangle-members.html
@@ -0,0 +1,119 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classmrs__lib_1_1geometry_1_1Rectangle.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Rectangle Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">a</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">b</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c">c</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d">center</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">d</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854">intersectionRay</a>(Ray r, double epsilon=1e-4) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a62a1b7d39bd141d4c38d8079d43ffe02">isFacing</a>(Eigen::Vector3d point) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b">normal</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#af119a484beb0dbae7dd0a9a2d5f5123d">Rectangle</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a3b85d8ba9c03a1b2962eda68293da077">Rectangle</a>(std::vector&lt; Eigen::Vector3d &gt; points)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a707a6df742b90d626e5321a4324d75fd">Rectangle</a>(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c, Eigen::Vector3d d)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce">solidAngleRelativeTo</a>(Eigen::Vector3d point) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176">triangles</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b">vertices</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a66d9286f92d6f8ea5c7ebc7400cb29be">~Rectangle</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+</html>
diff --git a/classmrs__lib_1_1geometry_1_1Rectangle.html b/classmrs__lib_1_1geometry_1_1Rectangle.html
new file mode 100644
index 00000000..3db2197b
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Rectangle-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Rectangle Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representation of a rectangle (can represent any quadrilateral)  
+ <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af119a484beb0dbae7dd0a9a2d5f5123d"><td class="memItemLeft" align="right" valign="top"><a id="af119a484beb0dbae7dd0a9a2d5f5123d"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#af119a484beb0dbae7dd0a9a2d5f5123d">Rectangle</a> ()</td></tr>
+<tr class="memdesc:af119a484beb0dbae7dd0a9a2d5f5123d"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor for initialization with points set to [0,0,0], [1,0,0], [1,1,0] and [0,1,0] <br /></td></tr>
+<tr class="separator:af119a484beb0dbae7dd0a9a2d5f5123d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66d9286f92d6f8ea5c7ebc7400cb29be"><td class="memItemLeft" align="right" valign="top"><a id="a66d9286f92d6f8ea5c7ebc7400cb29be"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a66d9286f92d6f8ea5c7ebc7400cb29be">~Rectangle</a> ()</td></tr>
+<tr class="memdesc:a66d9286f92d6f8ea5c7ebc7400cb29be"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:a66d9286f92d6f8ea5c7ebc7400cb29be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b85d8ba9c03a1b2962eda68293da077"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a3b85d8ba9c03a1b2962eda68293da077">Rectangle</a> (std::vector&lt; Eigen::Vector3d &gt; points)</td></tr>
+<tr class="memdesc:a3b85d8ba9c03a1b2962eda68293da077"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor using a std::vector of points (vector3). Provide points in a counter-clockwise order for correct behavior  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a3b85d8ba9c03a1b2962eda68293da077">More...</a><br /></td></tr>
+<tr class="separator:a3b85d8ba9c03a1b2962eda68293da077"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a707a6df742b90d626e5321a4324d75fd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a707a6df742b90d626e5321a4324d75fd">Rectangle</a> (Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">a</a>, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">b</a>, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c">c</a>, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">d</a>)</td></tr>
+<tr class="memdesc:a707a6df742b90d626e5321a4324d75fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor using four points (vector3). Provide points in a counter-clockwise order for correct behavior  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a707a6df742b90d626e5321a4324d75fd">More...</a><br /></td></tr>
+<tr class="separator:a707a6df742b90d626e5321a4324d75fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5370711517c0449167cfd0efaee8e821"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">a</a> () const</td></tr>
+<tr class="memdesc:a5370711517c0449167cfd0efaee8e821"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for first point  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">More...</a><br /></td></tr>
+<tr class="separator:a5370711517c0449167cfd0efaee8e821"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a82cb0598bd97e772d5fdbeeb5fde3657"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">b</a> () const</td></tr>
+<tr class="memdesc:a82cb0598bd97e772d5fdbeeb5fde3657"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the second point  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">More...</a><br /></td></tr>
+<tr class="separator:a82cb0598bd97e772d5fdbeeb5fde3657"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9cd35540a57a2b0663a2a4b360e02d8c"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c">c</a> () const</td></tr>
+<tr class="memdesc:a9cd35540a57a2b0663a2a4b360e02d8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the third point  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c">More...</a><br /></td></tr>
+<tr class="separator:a9cd35540a57a2b0663a2a4b360e02d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec6ae68b84c5a24580068fbc70a9452d"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">d</a> () const</td></tr>
+<tr class="memdesc:aec6ae68b84c5a24580068fbc70a9452d"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the fourth point  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">More...</a><br /></td></tr>
+<tr class="separator:aec6ae68b84c5a24580068fbc70a9452d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab541a2748c4876234b4af0f3c220fb2d"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d">center</a> () const</td></tr>
+<tr class="memdesc:ab541a2748c4876234b4af0f3c220fb2d"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for center point  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d">More...</a><br /></td></tr>
+<tr class="separator:ab541a2748c4876234b4af0f3c220fb2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5cf41dfd6e82f02c8bcc18bc134d235b"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b">normal</a> () const</td></tr>
+<tr class="memdesc:a5cf41dfd6e82f02c8bcc18bc134d235b"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the normal vector. It originates in the center of the <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html" title="geometric representation of a rectangle (can represent any quadrilateral)">Rectangle</a>, length is normalized, orientation follows the right-hand rule, assuiming the points are provided in counter-clockwise order  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b">More...</a><br /></td></tr>
+<tr class="separator:a5cf41dfd6e82f02c8bcc18bc134d235b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a05fbbe3a262e09d5834431bc31f2648b"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b">vertices</a> () const</td></tr>
+<tr class="memdesc:a05fbbe3a262e09d5834431bc31f2648b"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for all the points of this rectangle provided as std::vector  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b">More...</a><br /></td></tr>
+<tr class="separator:a05fbbe3a262e09d5834431bc31f2648b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f2e1bce541675c91179b723aa4f9176"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">Triangle</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176">triangles</a> () const</td></tr>
+<tr class="memdesc:a4f2e1bce541675c91179b723aa4f9176"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for the triangles forming this rectangle  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176">More...</a><br /></td></tr>
+<tr class="separator:a4f2e1bce541675c91179b723aa4f9176"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0b92252c39c755b3a7cba989fbb5c854"><td class="memItemLeft" align="right" valign="top">const boost::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854">intersectionRay</a> (<a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> r, double epsilon=1e-4) const</td></tr>
+<tr class="memdesc:a0b92252c39c755b3a7cba989fbb5c854"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate an intersection of this rectangle with a given ray with given tolerance  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854">More...</a><br /></td></tr>
+<tr class="separator:a0b92252c39c755b3a7cba989fbb5c854"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62a1b7d39bd141d4c38d8079d43ffe02"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a62a1b7d39bd141d4c38d8079d43ffe02">isFacing</a> (Eigen::Vector3d point) const</td></tr>
+<tr class="memdesc:a62a1b7d39bd141d4c38d8079d43ffe02"><td class="mdescLeft">&#160;</td><td class="mdescRight">check if the normal is facing a given point, i.e. if the point lies in the same half-space as the rectangle normal  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a62a1b7d39bd141d4c38d8079d43ffe02">More...</a><br /></td></tr>
+<tr class="separator:a62a1b7d39bd141d4c38d8079d43ffe02"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a803dbb3eb6f8a24146bd4c01877769ce"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce">solidAngleRelativeTo</a> (Eigen::Vector3d point) const</td></tr>
+<tr class="memdesc:a803dbb3eb6f8a24146bd4c01877769ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the solid angle of this rectangle relative to a given sphere center  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce">More...</a><br /></td></tr>
+<tr class="separator:a803dbb3eb6f8a24146bd4c01877769ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representation of a rectangle (can represent any quadrilateral) </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3b85d8ba9c03a1b2962eda68293da077"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b85d8ba9c03a1b2962eda68293da077">&#9670;&nbsp;</a></span>Rectangle() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Rectangle::Rectangle </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; Eigen::Vector3d &gt;&#160;</td>
+          <td class="paramname"><em>points</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor using a std::vector of points (vector3). Provide points in a counter-clockwise order for correct behavior </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">points</td><td>std::vector of points in 3d </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a707a6df742b90d626e5321a4324d75fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a707a6df742b90d626e5321a4324d75fd">&#9670;&nbsp;</a></span>Rectangle() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Rectangle::Rectangle </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>c</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>d</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>constructor using four points (vector3). Provide points in a counter-clockwise order for correct behavior </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td></td></tr>
+    <tr><td class="paramname">b</td><td></td></tr>
+    <tr><td class="paramname">c</td><td></td></tr>
+    <tr><td class="paramname">d</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5370711517c0449167cfd0efaee8e821"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5370711517c0449167cfd0efaee8e821">&#9670;&nbsp;</a></span>a()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Rectangle::a </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for first point </p>
+<dl class="section return"><dt>Returns</dt><dd>1st point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="a82cb0598bd97e772d5fdbeeb5fde3657"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a82cb0598bd97e772d5fdbeeb5fde3657">&#9670;&nbsp;</a></span>b()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Rectangle::b </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the second point </p>
+<dl class="section return"><dt>Returns</dt><dd>2nd point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="a9cd35540a57a2b0663a2a4b360e02d8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9cd35540a57a2b0663a2a4b360e02d8c">&#9670;&nbsp;</a></span>c()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Rectangle::c </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the third point </p>
+<dl class="section return"><dt>Returns</dt><dd>3rd point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="ab541a2748c4876234b4af0f3c220fb2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab541a2748c4876234b4af0f3c220fb2d">&#9670;&nbsp;</a></span>center()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Rectangle::center </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for center point </p>
+<dl class="section return"><dt>Returns</dt><dd>center point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="aec6ae68b84c5a24580068fbc70a9452d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec6ae68b84c5a24580068fbc70a9452d">&#9670;&nbsp;</a></span>d()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Rectangle::d </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the fourth point </p>
+<dl class="section return"><dt>Returns</dt><dd>4th point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="a0b92252c39c755b3a7cba989fbb5c854"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b92252c39c755b3a7cba989fbb5c854">&#9670;&nbsp;</a></span>intersectionRay()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const boost::optional&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Rectangle::intersectionRay </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a>&#160;</td>
+          <td class="paramname"><em>r</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>epsilon</em> = <code>1e-4</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>calculate an intersection of this rectangle with a given ray with given tolerance </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">r</td><td>ray to calculate intersection with </td></tr>
+    <tr><td class="paramname">epsilon</td><td>calculation tolerance</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>vector3 intersection if exists, boost::none if no intersection is found </dd></dl>
+
+</div>
+</div>
+<a id="a62a1b7d39bd141d4c38d8079d43ffe02"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62a1b7d39bd141d4c38d8079d43ffe02">&#9670;&nbsp;</a></span>isFacing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::geometry::Rectangle::isFacing </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>point</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>check if the normal is facing a given point, i.e. if the point lies in the same half-space as the rectangle normal </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">point</td><td>vector3 to check against</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the normal is facing given point. Returns false for angle &gt;= 90 degrees </dd></dl>
+
+</div>
+</div>
+<a id="a5cf41dfd6e82f02c8bcc18bc134d235b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5cf41dfd6e82f02c8bcc18bc134d235b">&#9670;&nbsp;</a></span>normal()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Rectangle::normal </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the normal vector. It originates in the center of the <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html" title="geometric representation of a rectangle (can represent any quadrilateral)">Rectangle</a>, length is normalized, orientation follows the right-hand rule, assuiming the points are provided in counter-clockwise order </p>
+<dl class="section return"><dt>Returns</dt><dd>normal vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a803dbb3eb6f8a24146bd4c01877769ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a803dbb3eb6f8a24146bd4c01877769ce">&#9670;&nbsp;</a></span>solidAngleRelativeTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::Rectangle::solidAngleRelativeTo </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>point</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>compute the solid angle of this rectangle relative to a given sphere center </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">point</td><td>center of a sphere to compute the solid angle for</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>solid angle in steradians </dd></dl>
+
+</div>
+</div>
+<a id="a4f2e1bce541675c91179b723aa4f9176"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f2e1bce541675c91179b723aa4f9176">&#9670;&nbsp;</a></span>triangles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">Triangle</a> &gt; mrs_lib::geometry::Rectangle::triangles </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for the triangles forming this rectangle </p>
+<dl class="section return"><dt>Returns</dt><dd>std::vector of triangles </dd></dl>
+
+</div>
+</div>
+<a id="a05fbbe3a262e09d5834431bc31f2648b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05fbbe3a262e09d5834431bc31f2648b">&#9670;&nbsp;</a></span>vertices()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Rectangle::vertices </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for all the points of this rectangle provided as std::vector </p>
+<dl class="section return"><dt>Returns</dt><dd>std::vector of points (vector3) </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
+</ul>
+</div><!-- contents -->
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">Rectangle</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+    [ "b", "classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657", null ],
+    [ "c", "classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c", null ],
+    [ "center", "classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d", null ],
+    [ "d", "classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d", null ],
+    [ "intersectionRay", "classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854", null ],
+    [ "isFacing", "classmrs__lib_1_1geometry_1_1Rectangle.html#a62a1b7d39bd141d4c38d8079d43ffe02", null ],
+    [ "normal", "classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b", null ],
+    [ "solidAngleRelativeTo", "classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce", null ],
+    [ "triangles", "classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176", null ],
+    [ "vertices", "classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b", null ]
+];
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Triangle Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">a</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">b</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">c</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9">center</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">intersectionRay</a>(Ray r, double epsilon=1e-4) const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6">normal</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a14203384b0eb6d3a7ff01330ab24f679">Triangle</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#af765e8be7fef5ae4cfb972ec51c4a6e8">Triangle</a>(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487">vertices</a>() const</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad5cc0e9eb09f9f4900f94fa1908b60f3">~Triangle</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1geometry_1_1Triangle.html b/classmrs__lib_1_1geometry_1_1Triangle.html
new file mode 100644
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classmrs__lib_1_1geometry_1_1Triangle-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::Triangle Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>geometric representation of a triangle. Instantiate a new triangle by providing three vertices  
+ <a href="classmrs__lib_1_1geometry_1_1Triangle.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="shapes_8h_source.html">shapes.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a14203384b0eb6d3a7ff01330ab24f679"><td class="memItemLeft" align="right" valign="top"><a id="a14203384b0eb6d3a7ff01330ab24f679"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a14203384b0eb6d3a7ff01330ab24f679">Triangle</a> ()</td></tr>
+<tr class="memdesc:a14203384b0eb6d3a7ff01330ab24f679"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor for initialization with default values (points [0,0,0], [1,0,0] and [0,0,1] <br /></td></tr>
+<tr class="separator:a14203384b0eb6d3a7ff01330ab24f679"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5cc0e9eb09f9f4900f94fa1908b60f3"><td class="memItemLeft" align="right" valign="top"><a id="ad5cc0e9eb09f9f4900f94fa1908b60f3"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad5cc0e9eb09f9f4900f94fa1908b60f3">~Triangle</a> ()</td></tr>
+<tr class="memdesc:ad5cc0e9eb09f9f4900f94fa1908b60f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">destructor <br /></td></tr>
+<tr class="separator:ad5cc0e9eb09f9f4900f94fa1908b60f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af765e8be7fef5ae4cfb972ec51c4a6e8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#af765e8be7fef5ae4cfb972ec51c4a6e8">Triangle</a> (Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">a</a>, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">b</a>, Eigen::Vector3d <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">c</a>)</td></tr>
+<tr class="memdesc:af765e8be7fef5ae4cfb972ec51c4a6e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">default constructor for creating a new triangle from given vertices  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#af765e8be7fef5ae4cfb972ec51c4a6e8">More...</a><br /></td></tr>
+<tr class="separator:af765e8be7fef5ae4cfb972ec51c4a6e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd847d705725f4dffa10e6e00ba5f24c"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">a</a> () const</td></tr>
+<tr class="memdesc:abd847d705725f4dffa10e6e00ba5f24c"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for first point  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">More...</a><br /></td></tr>
+<tr class="separator:abd847d705725f4dffa10e6e00ba5f24c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ac4e01a62fbb343d177bf47b3d38219"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">b</a> () const</td></tr>
+<tr class="memdesc:a6ac4e01a62fbb343d177bf47b3d38219"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for second point  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">More...</a><br /></td></tr>
+<tr class="separator:a6ac4e01a62fbb343d177bf47b3d38219"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff6f8fb09fb5e7d4ebf2116142b85638"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">c</a> () const</td></tr>
+<tr class="memdesc:aff6f8fb09fb5e7d4ebf2116142b85638"><td class="mdescLeft">&#160;</td><td class="mdescRight">getter for third point  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">More...</a><br /></td></tr>
+<tr class="separator:aff6f8fb09fb5e7d4ebf2116142b85638"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a419f55d2c47dac6035495004fec746c9"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9">center</a> () const</td></tr>
+<tr class="memdesc:a419f55d2c47dac6035495004fec746c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position on the triangle center  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9">More...</a><br /></td></tr>
+<tr class="separator:a419f55d2c47dac6035495004fec746c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9b355e443d37f91d83ab76bbfa35aa6"><td class="memItemLeft" align="right" valign="top">const Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6">normal</a> () const</td></tr>
+<tr class="memdesc:ac9b355e443d37f91d83ab76bbfa35aa6"><td class="mdescLeft">&#160;</td><td class="mdescRight">get normal vector of this triangle. The vector origin is placed at triangle center, length is normalized and direction follows the right-hand rule with respect to vertex order a-b-c  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6">More...</a><br /></td></tr>
+<tr class="separator:ac9b355e443d37f91d83ab76bbfa35aa6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad873b5c4ba04613f24dd12348f898487"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487">vertices</a> () const</td></tr>
+<tr class="memdesc:ad873b5c4ba04613f24dd12348f898487"><td class="mdescLeft">&#160;</td><td class="mdescRight">get a vector of all vertices  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487">More...</a><br /></td></tr>
+<tr class="separator:ad873b5c4ba04613f24dd12348f898487"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94238065a0e8d0c27135f55e1daa4ed3"><td class="memItemLeft" align="right" valign="top">const boost::optional&lt; Eigen::Vector3d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">intersectionRay</a> (<a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> r, double epsilon=1e-4) const</td></tr>
+<tr class="memdesc:a94238065a0e8d0c27135f55e1daa4ed3"><td class="mdescLeft">&#160;</td><td class="mdescRight">calculate an intersection of this triangle with a given ray with given tolerance  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">More...</a><br /></td></tr>
+<tr class="separator:a94238065a0e8d0c27135f55e1daa4ed3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>geometric representation of a triangle. Instantiate a new triangle by providing three vertices </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af765e8be7fef5ae4cfb972ec51c4a6e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af765e8be7fef5ae4cfb972ec51c4a6e8">&#9670;&nbsp;</a></span>Triangle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mrs_lib::geometry::Triangle::Triangle </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>default constructor for creating a new triangle from given vertices </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td></td></tr>
+    <tr><td class="paramname">b</td><td></td></tr>
+    <tr><td class="paramname">c</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="abd847d705725f4dffa10e6e00ba5f24c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd847d705725f4dffa10e6e00ba5f24c">&#9670;&nbsp;</a></span>a()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Triangle::a </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for first point </p>
+<dl class="section return"><dt>Returns</dt><dd>1st point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="a6ac4e01a62fbb343d177bf47b3d38219"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ac4e01a62fbb343d177bf47b3d38219">&#9670;&nbsp;</a></span>b()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Triangle::b </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for second point </p>
+<dl class="section return"><dt>Returns</dt><dd>2nd point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="aff6f8fb09fb5e7d4ebf2116142b85638"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff6f8fb09fb5e7d4ebf2116142b85638">&#9670;&nbsp;</a></span>c()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Triangle::c </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>getter for third point </p>
+<dl class="section return"><dt>Returns</dt><dd>3rd point (vector3) </dd></dl>
+
+</div>
+</div>
+<a id="a419f55d2c47dac6035495004fec746c9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a419f55d2c47dac6035495004fec746c9">&#9670;&nbsp;</a></span>center()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Triangle::center </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position on the triangle center </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="a94238065a0e8d0c27135f55e1daa4ed3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94238065a0e8d0c27135f55e1daa4ed3">&#9670;&nbsp;</a></span>intersectionRay()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const boost::optional&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Triangle::intersectionRay </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a>&#160;</td>
+          <td class="paramname"><em>r</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>epsilon</em> = <code>1e-4</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>calculate an intersection of this triangle with a given ray with given tolerance </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">r</td><td>ray to calculate intersection with </td></tr>
+    <tr><td class="paramname">epsilon</td><td>calculation tolerance</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>vector3 intersection if exists, boost::none if no intersection is found </dd></dl>
+
+</div>
+</div>
+<a id="ac9b355e443d37f91d83ab76bbfa35aa6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9b355e443d37f91d83ab76bbfa35aa6">&#9670;&nbsp;</a></span>normal()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const Eigen::Vector3d mrs_lib::geometry::Triangle::normal </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get normal vector of this triangle. The vector origin is placed at triangle center, length is normalized and direction follows the right-hand rule with respect to vertex order a-b-c </p>
+<dl class="section return"><dt>Returns</dt><dd>vector3 </dd></dl>
+
+</div>
+</div>
+<a id="ad873b5c4ba04613f24dd12348f898487"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad873b5c4ba04613f24dd12348f898487">&#9670;&nbsp;</a></span>vertices()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; Eigen::Vector3d &gt; mrs_lib::geometry::Triangle::vertices </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get a vector of all vertices </p>
+<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;vector3&gt; </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="shapes_8h_source.html">shapes.h</a></li>
+<li>src/geometry/shapes.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+var classmrs__lib_1_1geometry_1_1Triangle =
+[
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+    [ "~Triangle", "classmrs__lib_1_1geometry_1_1Triangle.html#ad5cc0e9eb09f9f4900f94fa1908b60f3", null ],
+    [ "Triangle", "classmrs__lib_1_1geometry_1_1Triangle.html#af765e8be7fef5ae4cfb972ec51c4a6e8", null ],
+    [ "a", "classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c", null ],
+    [ "b", "classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219", null ],
+    [ "c", "classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638", null ],
+    [ "center", "classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9", null ],
+    [ "intersectionRay", "classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3", null ],
+    [ "normal", "classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6", null ],
+    [ "vertices", "classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487", null ]
+];
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>A_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>B_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Base_class</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>computeKalmanGain</b>(const statecov_t &amp;sc, [[maybe_unused]] const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter::correct</a>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>correction_impl</b>(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R, const H_t &amp;H) const (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>covariance_predict</b>(const A_t &amp;A, const P_t &amp;P, const Q_t &amp;Q, const double dt) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>generateA_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>generateB_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a></td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>H_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>invert_W</b>(R_t W) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> typedef</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>()</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>m</b> (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>n</b> (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>p</b> (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>P_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">mrs_lib::LKF::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] double dt) const override</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter::predict</a>(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</td><td class="entry"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Q_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>R_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, [[maybe_unused]] const B_t &amp;B, [[maybe_unused]] const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>state_predict</b>(const A_t &amp;A, const x_t &amp;x, const B_t &amp;B, const u_t &amp;u) (defined in <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>statecov_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>u_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">varstepLKF</a>(const generateA_t &amp;generateA, const generateB_t &amp;generateB, const H_t &amp;H)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>x_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>z_t</b> typedef (defined in <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>)</td><td class="entry"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="entry"></td></tr>
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+<a href="#pub-types">Public Types</a> &#124;
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+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classmrs__lib_1_1varstepLKF-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt; Class Template Reference</div>  </div>
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+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="classmrs__lib_1_1varstepLKF__inherit__graph.png" border="0" usemap="#mrs__lib_1_1varstepLKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_inherit__map" alt="Inheritance graph"/></div>
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+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;:</div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Base_class</b> = <a class="el" href="classmrs__lib_1_1LKF.html">LKF</a>&lt; n, m, p &gt;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>x_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">Base_class::x_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>u_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">Base_class::u_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>z_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">Base_class::z_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>P_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">Base_class::P_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>R_t</b> = typename <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">Base_class::R_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>A_t</b> = typename Base_class::A_t</td></tr>
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+<tr class="memitem:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="a33b80f4e1b9b7eb7243b71a4ae6d99c6"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">n</a>, <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a></td></tr>
+<tr class="memdesc:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain matrix type <img class="formulaInl" alt="$n \times p$" src="form_10.png"/>. <br /></td></tr>
+<tr class="separator:a33b80f4e1b9b7eb7243b71a4ae6d99c6 inherit pub_types_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_types_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a5b8f47081daf208496a19a4364e6509c"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a></td></tr>
+<tr class="memdesc:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State vector type <img class="formulaInl" alt="$n \times 1$" src="form_3.png"/>. <br /></td></tr>
+<tr class="separator:a5b8f47081daf208496a19a4364e6509c inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ad92ac4f280e849986554bc593e5ab96e"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a></td></tr>
+<tr class="memdesc:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input vector type <img class="formulaInl" alt="$m \times 1$" src="form_4.png"/>. <br /></td></tr>
+<tr class="separator:ad92ac4f280e849986554bc593e5ab96e inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a0825f38a6a4ddc522239bb7bf6279737"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a></td></tr>
+<tr class="memdesc:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement vector type <img class="formulaInl" alt="$p \times 1$" src="form_5.png"/>. <br /></td></tr>
+<tr class="separator:a0825f38a6a4ddc522239bb7bf6279737 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a8f5e50ea6668129218bd4113f4ffdf6f"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a></td></tr>
+<tr class="memdesc:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">State uncertainty covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:a8f5e50ea6668129218bd4113f4ffdf6f inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="a1e4c8aa79cfcea707876d85950132450"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a></td></tr>
+<tr class="memdesc:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Measurement noise covariance matrix type <img class="formulaInl" alt="$p \times p$" src="form_7.png"/>. <br /></td></tr>
+<tr class="separator:a1e4c8aa79cfcea707876d85950132450 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top"><a id="ab2c5ddabe3fc919334595ec1e535c848"></a>
+typedef Eigen::Matrix&lt; double, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a>, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a></td></tr>
+<tr class="memdesc:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process noise covariance matrix type <img class="formulaInl" alt="$n \times n$" src="form_6.png"/>. <br /></td></tr>
+<tr class="separator:ab2c5ddabe3fc919334595ec1e535c848 inherit pub_types_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afe2d9f3643f3f8e4c82879384a4a5eea"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">varstepLKF</a> (const generateA_t &amp;generateA, const generateB_t &amp;generateB, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:afe2d9f3643f3f8e4c82879384a4a5eea"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">More...</a><br /></td></tr>
+<tr class="separator:afe2d9f3643f3f8e4c82879384a4a5eea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac1f671eb73017a1c05303e29ddf0c1f2"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">predict</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const override</td></tr>
+<tr class="memdesc:ac1f671eb73017a1c05303e29ddf0c1f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">More...</a><br /></td></tr>
+<tr class="separator:ac1f671eb73017a1c05303e29ddf0c1f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1LKF"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1LKF')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a> ()</td></tr>
+<tr class="memdesc:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience default constructor.  <a href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">More...</a><br /></td></tr>
+<tr class="separator:aecd505e79c0102609c9e5ffbd91a7cc3 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</td></tr>
+<tr class="memdesc:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main constructor.  <a href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">More...</a><br /></td></tr>
+<tr class="separator:a8bb9eee4045a176b56c28bc7e0113fa0 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const override</td></tr>
+<tr class="memdesc:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">More...</a><br /></td></tr>
+<tr class="separator:a8ba4552b6fa909e5d899d2fe8c8fdaa5 inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, [[maybe_unused]] double dt) const override</td></tr>
+<tr class="memdesc:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">More...</a><br /></td></tr>
+<tr class="separator:af4027c4bef5dda2a12af1f728e92c45a inherit pub_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classmrs__lib_1_1KalmanFilter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classmrs__lib_1_1KalmanFilter')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memitem:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">correct</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R) const =0</td></tr>
+<tr class="memdesc:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the correction (update, measurement, data) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">More...</a><br /></td></tr>
+<tr class="separator:a66c1e0d2e496f304a4f6166e7b894aac inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">predict</a> (const <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;u, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, double dt) const =0</td></tr>
+<tr class="memdesc:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies the prediction (time) step of the Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">More...</a><br /></td></tr>
+<tr class="separator:a7c8e64828a78d1a680d1ef467633d9d5 inherit pub_methods_classmrs__lib_1_1KalmanFilter"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a2767fa0d772cf2d06a79a68f62968b7b"><td class="memItemLeft" align="right" valign="top"><a id="a2767fa0d772cf2d06a79a68f62968b7b"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>n</b> = n_states</td></tr>
+<tr class="separator:a2767fa0d772cf2d06a79a68f62968b7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac646ff6b89e71d3d0d764c997ece69c"><td class="memItemLeft" align="right" valign="top"><a id="aac646ff6b89e71d3d0d764c997ece69c"></a>
+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>m</b> = n_inputs</td></tr>
+<tr class="separator:aac646ff6b89e71d3d0d764c997ece69c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static const int&#160;</td><td class="memItemRight" valign="bottom"><b>p</b> = n_measurements</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
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+<tr class="separator:adcdde06220c8b30b2b74cb50d988c71b inherit pro_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> ::type&#160;</td><td class="memItemRight" valign="bottom"><b>correction_impl</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;sc, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> &amp;z, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> &amp;R, const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>) const</td></tr>
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+<tr class="memitem:afb75645dfb197d6a496839ca3079a2d1 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="afb75645dfb197d6a496839ca3079a2d1"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>covariance_predict</b> (const <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> &amp;<a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> &amp;P, const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;Q, const double dt)</td></tr>
+<tr class="separator:afb75645dfb197d6a496839ca3079a2d1 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplParams" colspan="2"><a id="a5c56c50aa7b8ff77e9a57ee2decbadce"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
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+<tr class="separator:a5c56c50aa7b8ff77e9a57ee2decbadce inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memTemplParams" colspan="2"><a id="aa4c613d999ab084a171b8b2a928c8cf4"></a>
+template&lt;int check = n_inputs&gt; </td></tr>
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+<tr class="separator:aa4c613d999ab084a171b8b2a928c8cf4 inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memItemLeft" align="right" valign="top"><a id="ace42cf1b23654e1090219ed1a532476d"></a>
+static <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>invert_W</b> (<a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> W)</td></tr>
+<tr class="separator:ace42cf1b23654e1090219ed1a532476d inherit pro_static_methods_classmrs__lib_1_1LKF"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="afe2d9f3643f3f8e4c82879384a4a5eea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe2d9f3643f3f8e4c82879384a4a5eea">&#9670;&nbsp;</a></span>varstepLKF()</h2>
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+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF</a>&lt; n_states, n_inputs, n_measurements &gt;::<a class="el" href="classmrs__lib_1_1varstepLKF.html">varstepLKF</a> </td>
+          <td>(</td>
+          <td class="paramtype">const generateA_t &amp;&#160;</td>
+          <td class="paramname"><em>generateA</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const generateB_t &amp;&#160;</td>
+          <td class="paramname"><em>generateB</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>H</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>The main constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">generateA</td><td>a function, which returns the state transition matrix <code>A</code> based on the time difference <code>dt</code>. </td></tr>
+    <tr><td class="paramname">generateB</td><td>a function, which returns the input to state mapping matrix <code>B</code> based on the time difference <code>dt</code>. </td></tr>
+    <tr><td class="paramname">H</td><td>the state to measurement mapping matrix. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac1f671eb73017a1c05303e29ddf0c1f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac1f671eb73017a1c05303e29ddf0c1f2">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;int n_states, int n_inputs, int n_measurements&gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> <a class="el" href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF</a>&lt; n_states, n_inputs, n_measurements &gt;::predict </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>sc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>u</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>Q</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>dt</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Applies the prediction (time) step of the Kalman filter. </p>
+<p>This method applies the linear Kalman filter prediction step to the state and covariance passed in <code>sc</code> using the input <code>u</code> and process noise <code>Q</code>. The process noise covariance <code>Q</code> is scaled by the <code>dt</code> parameter. The updated state and covariance after the prediction step is returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">sc</td><td>The state and covariance to which the prediction step is to be applied. </td></tr>
+    <tr><td class="paramname">u</td><td>The input vector to be used for prediction. </td></tr>
+    <tr><td class="paramname">Q</td><td>The process noise covariance matrix to be used for prediction. </td></tr>
+    <tr><td class="paramname">dt</td><td>Used to scale the process noise covariance <code>Q</code> and to generate the state transition and input to state mapping matrices <code>A</code> and \B using the functions, passed in the object's constructor. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state and covariance after the prediction step.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>Note that the <code>dt</code> parameter is used to scale the process noise covariance <code>Q</code> and to generate the system matrices <a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321" title="The system transition matrix .">A</a> or <a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a" title="The input to state mapping matrix .">B</a> using the functions, passed in the constructor! </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="lkf_8h_source.html">lkf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1varstepLKF.html">varstepLKF</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/classmrs__lib_1_1varstepLKF.js b/classmrs__lib_1_1varstepLKF.js
new file mode 100644
index 00000000..35f5d193
--- /dev/null
+++ b/classmrs__lib_1_1varstepLKF.js
@@ -0,0 +1,18 @@
+var classmrs__lib_1_1varstepLKF =
+[
+    [ "A_t", "classmrs__lib_1_1varstepLKF.html#a1f797193292783fd0d33698b8f459b6a", null ],
+    [ "B_t", "classmrs__lib_1_1varstepLKF.html#a2b26991ee6df4fd05e67f8f673149368", null ],
+    [ "Base_class", "classmrs__lib_1_1varstepLKF.html#a83cfe493b5409677ec83f01b9f0065bc", null ],
+    [ "generateA_t", "classmrs__lib_1_1varstepLKF.html#ae85acc5f4b5d251aa70cdda71c0aabfd", null ],
+    [ "generateB_t", "classmrs__lib_1_1varstepLKF.html#a2b40f86a3d5a5973664ffcccd9c37b4d", null ],
+    [ "H_t", "classmrs__lib_1_1varstepLKF.html#a0aa9bddf3faf5aa9e09053283df32a7e", null ],
+    [ "P_t", "classmrs__lib_1_1varstepLKF.html#a346cbdb27120fda35ebc6ec6f6c69cbe", null ],
+    [ "Q_t", "classmrs__lib_1_1varstepLKF.html#ac69552920fcb4c6db997539466ae5e67", null ],
+    [ "R_t", "classmrs__lib_1_1varstepLKF.html#a48a9d5c6e193d88308b7b17186b3432c", null ],
+    [ "statecov_t", "classmrs__lib_1_1varstepLKF.html#af7abb1064d60846b89590e5c95e5841b", null ],
+    [ "u_t", "classmrs__lib_1_1varstepLKF.html#ac8cb341dceca8811dc40c0891fd71ad2", null ],
+    [ "x_t", "classmrs__lib_1_1varstepLKF.html#aa948acd2a6adacf7fa10667f2f307994", null ],
+    [ "z_t", "classmrs__lib_1_1varstepLKF.html#a60b15acb8d478affcf2190b54724f060", null ],
+    [ "varstepLKF", "classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea", null ],
+    [ "predict", "classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2", null ]
+];
\ No newline at end of file
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new file mode 100644
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new file mode 100644
index 00000000..da1f355f
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diff --git a/classmrs__lib_1_1varstepLKF__inherit__graph.md5 b/classmrs__lib_1_1varstepLKF__inherit__graph.md5
new file mode 100644
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GEOMETRY_CONVERSIONS_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GEOMETRY_CONVERSIONS_H</span></div>
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+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/geometry/conversions_eigen.h&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/geometry/conversions_opencv.h&gt;</span></div>
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+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#endif // GEOMETRY_CONVERSIONS_H</span></div>
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+</div><!--header-->
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GEOMETRY_CONVERSIONS_EIGEN_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GEOMETRY_CONVERSIONS_EIGEN_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Vector3.h&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="keyword">namespace </span>geometry</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="comment">/* conversions from/to Eigen //{ */</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    geometry_msgs::Point fromEigen(<span class="keyword">const</span> Eigen::Vector3d&amp; what);</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    geometry_msgs::Vector3 fromEigenVec(<span class="keyword">const</span> Eigen::Vector3d&amp; what);</div>
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+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    Eigen::Vector3d toEigen(<span class="keyword">const</span> geometry_msgs::Point&amp; what);</div>
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+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    Eigen::Vector3d toEigen(<span class="keyword">const</span> geometry_msgs::Vector3&amp; what);</div>
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+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    Eigen::Matrix&lt;double, 6, 6&gt; toEigenMatrix(<span class="keyword">const</span> boost::array&lt;double, 36&gt;&amp; what);</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    geometry_msgs::Quaternion fromEigen(<span class="keyword">const</span> Eigen::Quaterniond&amp; what);</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    Eigen::Quaterniond toEigen(<span class="keyword">const</span> geometry_msgs::Quaternion&amp; what);</div>
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+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  }</div>
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+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#endif // GEOMETRY_CONVERSIONS_EIGEN_H</span></div>
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
+<div class="title">conversions_opencv.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef GEOMETRY_CONVERSIONS_OPENCV_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define GEOMETRY_CONVERSIONS_OPENCV_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Vector3.h&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/types.hpp&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;{</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <span class="keyword">namespace </span>geometry</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="comment">/* conversions from/to OpenCV //{ */</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    geometry_msgs::Point fromCV(<span class="keyword">const</span> cv::Point3d&amp; what);</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    cv::Point3d toCV(<span class="keyword">const</span> geometry_msgs::Point&amp; what);</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    cv::Point3d toCV(<span class="keyword">const</span> geometry_msgs::Vector3&amp; what);</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
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+</div><!-- fragment --></div><!-- contents -->
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+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+$(document).ready(function(){initNavTree('cyclic_8h.html',''); initResizable(); });
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">cyclic.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines the cyclic class for calculations with cyclic quantities.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;ostream&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for cyclic.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="cyclic_8h__incl.png" border="0" usemap="#include_2mrs__lib_2geometry_2cyclic_8h" alt=""/></div>
+<map name="include_2mrs__lib_2geometry_2cyclic_8h" id="include_2mrs__lib_2geometry_2cyclic_8h">
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+</div><div class="textblock"><div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> This graph shows which files directly or indirectly include this file:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="cyclic_8h__dep__incl.png" border="0" usemap="#include_2mrs__lib_2geometry_2cyclic_8hdep" alt=""/></div>
+<map name="include_2mrs__lib_2geometry_2cyclic_8hdep" id="include_2mrs__lib_2geometry_2cyclic_8hdep">
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+</map>
+</div>
+</div>
+<p><a href="cyclic_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the a general cyclic value (such as angles in radians/degrees etc).  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$).  <a href="structmrs__lib_1_1geometry_1_1radians.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$).  <a href="structmrs__lib_1_1geometry_1_1sradians.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$).  <a href="structmrs__lib_1_1geometry_1_1degrees.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$).  <a href="structmrs__lib_1_1geometry_1_1sdegrees.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a8bb4c24541320f151f1781100c789cd3"><td class="memTemplParams" colspan="2">template&lt;typename flt , class spec &gt; </td></tr>
+<tr class="memitem:a8bb4c24541320f151f1781100c789cd3"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="cyclic_8h.html#a8bb4c24541320f151f1781100c789cd3">mrs_lib::geometry::operator&lt;</a> (const cyclic&lt; flt, spec &gt; &amp;lhs, const cyclic&lt; flt, spec &gt; &amp;rhs)</td></tr>
+<tr class="memdesc:a8bb4c24541320f151f1781100c789cd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the comparison operation between two angles.  <a href="cyclic_8h.html#a8bb4c24541320f151f1781100c789cd3">More...</a><br /></td></tr>
+<tr class="separator:a8bb4c24541320f151f1781100c789cd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a60745f66bbc41c3cb323c8b1c3f050d7"><td class="memTemplParams" colspan="2">template&lt;typename flt , class spec &gt; </td></tr>
+<tr class="memitem:a60745f66bbc41c3cb323c8b1c3f050d7"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="cyclic_8h.html#a60745f66bbc41c3cb323c8b1c3f050d7">mrs_lib::geometry::operator&gt;</a> (const cyclic&lt; flt, spec &gt; &amp;lhs, const cyclic&lt; flt, spec &gt; &amp;rhs)</td></tr>
+<tr class="memdesc:a60745f66bbc41c3cb323c8b1c3f050d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the comparison operation between two angles.  <a href="cyclic_8h.html#a60745f66bbc41c3cb323c8b1c3f050d7">More...</a><br /></td></tr>
+<tr class="separator:a60745f66bbc41c3cb323c8b1c3f050d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebc05b8cec59b7a37a72024e26a449f7"><td class="memTemplParams" colspan="2">template&lt;typename flt , class spec &gt; </td></tr>
+<tr class="memitem:aebc05b8cec59b7a37a72024e26a449f7"><td class="memTemplItemLeft" align="right" valign="top">std::ostream &amp;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="cyclic_8h.html#aebc05b8cec59b7a37a72024e26a449f7">mrs_lib::geometry::operator&lt;&lt;</a> (std::ostream &amp;out, const cyclic&lt; flt, spec &gt; &amp;ang)</td></tr>
+<tr class="memdesc:aebc05b8cec59b7a37a72024e26a449f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the stream output operator.  <a href="cyclic_8h.html#aebc05b8cec59b7a37a72024e26a449f7">More...</a><br /></td></tr>
+<tr class="separator:aebc05b8cec59b7a37a72024e26a449f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines the cyclic class for calculations with cyclic quantities. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a8bb4c24541320f151f1781100c789cd3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8bb4c24541320f151f1781100c789cd3">&#9670;&nbsp;</a></span>operator&lt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::geometry::operator&lt; </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lhs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Implementation of the comparison operation between two angles. </p>
+<p>An angle is considered to be smaller than another angle if it is shorter - closer to zero.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lhs</td><td>left-hand-side. </td></tr>
+    <tr><td class="paramname">rhs</td><td>right-hand-side. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true iff the shortest unsigned walk from lhs to 0 is less than from rhs to 0. </dd></dl>
+
+</div>
+</div>
+<a id="aebc05b8cec59b7a37a72024e26a449f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aebc05b8cec59b7a37a72024e26a449f7">&#9670;&nbsp;</a></span>operator&lt;&lt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::ostream&amp; mrs_lib::geometry::operator&lt;&lt; </td>
+          <td>(</td>
+          <td class="paramtype">std::ostream &amp;&#160;</td>
+          <td class="paramname"><em>out</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>ang</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Implementation of the stream output operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">out</td><td>the stream to write the angle to. </td></tr>
+    <tr><td class="paramname">ang</td><td>the angle to be written. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a reference to the stream. </dd></dl>
+
+</div>
+</div>
+<a id="a60745f66bbc41c3cb323c8b1c3f050d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60745f66bbc41c3cb323c8b1c3f050d7">&#9670;&nbsp;</a></span>operator&gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">bool mrs_lib::geometry::operator&gt; </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lhs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Implementation of the comparison operation between two angles. </p>
+<p>An angle is considered to be larger than another angle if it is longer - further from zero.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lhs</td><td>left-hand-side. </td></tr>
+    <tr><td class="paramname">rhs</td><td>right-hand-side. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true iff the shortest unsigned walk from lhs to 0 is more than from rhs to 0. </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="dir_85b0de967ad5400027712e30c95ca897.html">geometry</a></li><li class="navelem"><a class="el" href="cyclic_8h.html">cyclic.h</a></li>
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+    [ "radians", "structmrs__lib_1_1geometry_1_1radians.html", null ],
+    [ "sradians", "structmrs__lib_1_1geometry_1_1sradians.html", null ],
+    [ "degrees", "structmrs__lib_1_1geometry_1_1degrees.html", null ],
+    [ "sdegrees", "structmrs__lib_1_1geometry_1_1sdegrees.html", null ],
+    [ "operator<", "cyclic_8h.html#a8bb4c24541320f151f1781100c789cd3", null ],
+    [ "operator<<", "cyclic_8h.html#aebc05b8cec59b7a37a72024e26a449f7", null ],
+    [ "operator>", "cyclic_8h.html#a60745f66bbc41c3cb323c8b1c3f050d7", null ]
+];
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diff --git a/cyclic_8h__incl.map b/cyclic_8h__incl.map
new file mode 100644
index 00000000..7b91b518
--- /dev/null
+++ b/cyclic_8h__incl.map
@@ -0,0 +1,5 @@
+<map id="include/mrs_lib/geometry/cyclic.h" name="include/mrs_lib/geometry/cyclic.h">
+<area shape="rect" id="node1" title="Defines the cyclic class for calculations with cyclic quantities." alt="" coords="5,5,193,47"/>
+<area shape="rect" id="node2" title=" " alt="" coords="21,95,84,121"/>
+<area shape="rect" id="node3" title=" " alt="" coords="108,95,184,121"/>
+</map>
diff --git a/cyclic_8h__incl.md5 b/cyclic_8h__incl.md5
new file mode 100644
index 00000000..5ea28071
--- /dev/null
+++ b/cyclic_8h__incl.md5
@@ -0,0 +1 @@
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diff --git a/cyclic_8h__incl.png b/cyclic_8h__incl.png
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+<div class="title">cyclic.h</div>  </div>
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+<div class="contents">
+<a href="cyclic_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef CYCLIC_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define CYCLIC_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;ostream&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">namespace </span>geometry</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  {</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> flt, <span class="keyword">class</span> spec&gt;</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html">   48</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a></div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    {</div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">   55</a></span>&#160;      <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>() : val(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a>){};</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">   61</a></span>&#160;      <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(<span class="keyword">const</span> flt val) : val(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(val)){};</div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">   67</a></span>&#160;      <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; other) : val(other.val){};</div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">   73</a></span>&#160;      <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(<span class="keyword">const</span> spec&amp; other) : val(other.val){};</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">   80</a></span>&#160;      flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">      </span>{</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keywordflow">return</span> val;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      };</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">   85</a></span>&#160;      <span class="keyword">static</span> constexpr flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a> = spec::minimum;   </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">   86</a></span>&#160;      <span class="keyword">static</span> constexpr flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a> = spec::supremum; </div>
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+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;          <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a> - <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a>; </div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">   89</a></span>&#160;      <span class="keyword">static</span> constexpr flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a> =</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a> / flt(2); </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="comment">/* static_assert((supremum &gt; minimum), &quot;cyclic value: Range not valid&quot;); */</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">  100</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(<span class="keyword">const</span> flt val)</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      {</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">return</span> val &gt;= <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a> &amp;&amp; val &lt; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a>;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      }</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">  114</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(<span class="keyword">const</span> flt val)</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="comment">// these few ifs should cover most cases, improving speed and precision</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordflow">if</span> (val &gt;= <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a>)</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        {</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <span class="keywordflow">if</span> (val &lt; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a>)  <span class="comment">// value is actually in range and doesn&#39;t need to be wrapped</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="keywordflow">return</span> val;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (val &lt; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a> + <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>)</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            <span class="keywordflow">return</span> val - <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>;  <span class="comment">// to avoid unnecessary costly fmod operation for this case (assumed to be significantly more common than the general case)</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        {</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          <span class="keywordflow">if</span> (val &gt;= <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a> - <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>)</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="keywordflow">return</span> val + <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>;  <span class="comment">// to avoid unnecessary costly fmod operation for this case (assumed to be significantly more common than the general case)</span></div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        }</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="comment">// general case</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keyword">const</span> flt rem = std::fmod(val - <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a>, <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>);</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keyword">const</span> flt wrapped = rem + <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a> + std::signbit(rem) * <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordflow">return</span> wrapped;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">  157</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(<span class="keyword">const</span> flt what, <span class="keyword">const</span> flt from)</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      {</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordflow">return</span> from + <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(what, from);</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      }</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">  171</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(<span class="keyword">const</span> flt from, <span class="keyword">const</span> flt to)</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      {</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(from), <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(to));</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      }</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, <span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      {</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">const</span> flt tmp = to.val - from.val;</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">const</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a> = tmp + std::signbit(tmp) * <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      }</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
+<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">  193</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(<span class="keyword">const</span> flt minuend, <span class="keyword">const</span> flt subtrahend)</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      {</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(minuend), <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(subtrahend));</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
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+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      {</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keyword">const</span> flt d = minuend.val - subtrahend.val;</div>
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+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordflow">return</span> d + <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordflow">if</span> (d &gt;= <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a>)</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="keywordflow">return</span> d - <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a>;</div>
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+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">  219</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(<span class="keyword">const</span> flt from, <span class="keyword">const</span> flt to)</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      {</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(from), <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(to));</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      }</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
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+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      {</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">return</span> std::abs(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(from, to));</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      }</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">  242</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(<span class="keyword">const</span> flt from, <span class="keyword">const</span> flt to, <span class="keyword">const</span> flt coeff)</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      {</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(from), <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(to), coeff);</div>
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+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
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+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      {</div>
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+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        <span class="keyword">const</span> flt intp = from.val + coeff * dang;</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keywordflow">return</span> intp;</div>
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+<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">  264</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(<span class="keyword">const</span> flt from, <span class="keyword">const</span> flt to, <span class="keyword">const</span> flt coeff)</div>
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+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      }</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
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+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(from, to, coeff));</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      }</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
+<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">  288</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(<span class="keyword">const</span> flt from, <span class="keyword">const</span> flt to, <span class="keyword">const</span> flt coeff)</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      {</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(from), <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(to), coeff);</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      }</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, <span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, <span class="keyword">const</span> flt coeff)</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      {</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        <span class="keyword">const</span> flt dang = <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(to, from);</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <span class="keyword">const</span> flt intp = from.val + coeff * dang;</div>
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+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      }</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
+<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">  311</a></span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(<span class="keyword">const</span> flt from, <span class="keyword">const</span> flt to, <span class="keyword">const</span> flt coeff)</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      {</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(from), <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>(to), coeff);</div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      }</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keyword">static</span> flt <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, <span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, <span class="keyword">const</span> flt coeff)</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      {</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(from, to, coeff));</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      }</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">class</span> other_t&gt;</div>
+<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">  334</a></span>&#160;      <span class="keyword">static</span> other_t <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; what)</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      {</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="keywordflow">return</span> other_t(what.val / <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a> * other_t::range);</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      }</div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">class</span> other_t&gt;</div>
+<div class="line"><a name="l00351"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">  351</a></span>&#160;      other_t <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="keyword">      </span>{</div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordflow">return</span> other_t(val / <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a> * other_t::range);</div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      }</div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
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+<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">  363</a></span>&#160;<span class="comment"></span>      <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(<span class="keyword">const</span> flt nval)</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      {</div>
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+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      };</div>
+<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">  374</a></span>&#160;      <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; other)</div>
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+<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      };</div>
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+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
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+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
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+<div class="line"><a name="l00481"></a><span class="lineno"><a class="line" href="cyclic_8h.html#aebc05b8cec59b7a37a72024e26a449f7">  481</a></span>&#160;    std::ostream&amp; <a class="code" href="cyclic_8h.html#aebc05b8cec59b7a37a72024e26a449f7">operator&lt;&lt;</a>(std::ostream &amp;out, <span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic&lt;flt, spec&gt;</a>&amp; ang)</div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    {</div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="keywordflow">return</span> (out &lt;&lt; ang.<a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>());</div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    }</div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
+<div class="line"><a name="l00489"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1radians.html">  489</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> : <span class="keyword">public</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt;double, radians&gt;</div>
+<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    {</div>
+<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      <span class="keyword">using</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic&lt;double, radians&gt;::cyclic</a>;  <span class="comment">// necessary to inherit constructors</span></div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> minimum = 0;</div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> supremum = 2 * M_PI;</div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    };</div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
+<div class="line"><a name="l00499"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1sradians.html">  499</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1geometry_1_1sradians.html">sradians</a> : <span class="keyword">public</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt;double, sradians&gt;</div>
+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    {</div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <span class="keyword">using</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic&lt;double, sradians&gt;::cyclic</a>;  <span class="comment">// necessary to inherit constructors</span></div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> minimum = -M_PI;</div>
+<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> supremum = M_PI;</div>
+<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    };</div>
+<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
+<div class="line"><a name="l00509"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1degrees.html">  509</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1geometry_1_1degrees.html">degrees</a> : <span class="keyword">public</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt;double, degrees&gt;</div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    {</div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <span class="keyword">using</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic&lt;double, degrees&gt;::cyclic</a>;  <span class="comment">// necessary to inherit constructors</span></div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> minimum = 0;</div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> supremum = 360;</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    };</div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160; </div>
+<div class="line"><a name="l00519"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1geometry_1_1sdegrees.html">  519</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1geometry_1_1sdegrees.html">sdegrees</a> : <span class="keyword">public</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt;double, sdegrees&gt;</div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    {</div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      <span class="keyword">using</span> <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic&lt;double, sdegrees&gt;::cyclic</a>;  <span class="comment">// necessary to inherit constructors</span></div>
+<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> minimum = -180;</div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> supremum = 180;</div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    };</div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  }  <span class="comment">// namespace geometry</span></div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="preprocessor">#endif  // CYCLIC_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a064a156dd856871bf1b4acf22cba78e3"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">mrs_lib::geometry::cyclic::value</a></div><div class="ttdeci">flt value() const</div><div class="ttdoc">Getter for val.</div><div class="ttdef"><b>Definition:</b> cyclic.h:80</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a51db20b50daabf98afae8bd77e3a3ac4"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">mrs_lib::geometry::cyclic::pdist</a></div><div class="ttdeci">static flt pdist(const flt from, const flt to)</div><div class="ttdoc">Returns length of the shortest walk in the positive direction from the first parameter to the second ...</div><div class="ttdef"><b>Definition:</b> cyclic.h:171</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1sdegrees_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a></div><div class="ttdoc">Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$).</div><div class="ttdef"><b>Definition:</b> cyclic.h:519</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a1ff6b499102b0eb290b6d121284c51ce"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">mrs_lib::geometry::cyclic::operator=</a></div><div class="ttdeci">cyclic &amp; operator=(const flt nval)</div><div class="ttdoc">Assignment operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:363</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ab366578641265f73655d1edc023cc2c7"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">mrs_lib::geometry::cyclic::cyclic</a></div><div class="ttdeci">cyclic()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition:</b> cyclic.h:55</div></div>
+<div class="ttc" id="acyclic_8h_html_a8bb4c24541320f151f1781100c789cd3"><div class="ttname"><a href="cyclic_8h.html#a8bb4c24541320f151f1781100c789cd3">mrs_lib::geometry::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const cyclic&lt; flt, spec &gt; &amp;lhs, const cyclic&lt; flt, spec &gt; &amp;rhs)</div><div class="ttdoc">Implementation of the comparison operation between two angles.</div><div class="ttdef"><b>Definition:</b> cyclic.h:453</div></div>
+<div class="ttc" id="acyclic_8h_html_aebc05b8cec59b7a37a72024e26a449f7"><div class="ttname"><a href="cyclic_8h.html#aebc05b8cec59b7a37a72024e26a449f7">mrs_lib::geometry::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;out, const cyclic&lt; flt, spec &gt; &amp;ang)</div><div class="ttdoc">Implementation of the stream output operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:481</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a1c2837eea4d0635833a786d571922d76"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">mrs_lib::geometry::cyclic::interpUnwrapped</a></div><div class="ttdeci">static flt interpUnwrapped(const flt from, const flt to, const flt coeff)</div><div class="ttdoc">Interpolation between two circular quantities without wrapping of the result.</div><div class="ttdef"><b>Definition:</b> cyclic.h:242</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a58ca734b0e19c5f25da90761303451b7"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7">mrs_lib::geometry::cyclic::operator+</a></div><div class="ttdeci">friend spec operator+(const cyclic &amp;lhs, const cyclic &amp;rhs)</div><div class="ttdoc">Addition operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:422</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_aa5b1c6f8e1ab47b374f10a1a96de910b"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">mrs_lib::geometry::cyclic::diff</a></div><div class="ttdeci">static flt diff(const flt minuend, const flt subtrahend)</div><div class="ttdoc">Returns the difference between the two circular values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:193</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a9eb4b1ce4c4307d6bed9642bbf52133e"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">mrs_lib::geometry::cyclic::dist</a></div><div class="ttdeci">static flt dist(const flt from, const flt to)</div><div class="ttdoc">Returns the distance between the two circular values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:219</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1degrees_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a></div><div class="ttdoc">Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$).</div><div class="ttdef"><b>Definition:</b> cyclic.h:509</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a9ca52b4d47969ec56057b8217f201ab9"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">mrs_lib::geometry::cyclic::cyclic</a></div><div class="ttdeci">cyclic(const cyclic &amp;other)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> cyclic.h:67</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a></div><div class="ttdoc">Implementation of the a general cyclic value (such as angles in radians/degrees etc).</div><div class="ttdef"><b>Definition:</b> cyclic.h:48</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1radians_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a></div><div class="ttdoc">Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$).</div><div class="ttdef"><b>Definition:</b> cyclic.h:489</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1sradians_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a></div><div class="ttdoc">Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$).</div><div class="ttdef"><b>Definition:</b> cyclic.h:499</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ad40f88cb0dab7a684335f3403a9df7b0"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">mrs_lib::geometry::cyclic::cyclic</a></div><div class="ttdeci">cyclic(const spec &amp;other)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> cyclic.h:73</div></div>
+<div class="ttc" id="acyclic_8h_html_a60745f66bbc41c3cb323c8b1c3f050d7"><div class="ttname"><a href="cyclic_8h.html#a60745f66bbc41c3cb323c8b1c3f050d7">mrs_lib::geometry::operator&gt;</a></div><div class="ttdeci">bool operator&gt;(const cyclic&lt; flt, spec &gt; &amp;lhs, const cyclic&lt; flt, spec &gt; &amp;rhs)</div><div class="ttdoc">Implementation of the comparison operation between two angles.</div><div class="ttdef"><b>Definition:</b> cyclic.h:468</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ae7ff9988f0d3ef6cf3bd724f3e29273b"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">mrs_lib::geometry::cyclic::inRange</a></div><div class="ttdeci">static bool inRange(const flt val)</div><div class="ttdoc">Checks if val is within the valid interval of wrapped values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:100</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a21d98e561a2d296e1d64b38a74883902"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">mrs_lib::geometry::cyclic::unwrap</a></div><div class="ttdeci">static flt unwrap(const flt what, const flt from)</div><div class="ttdoc">Returns value of the parameter what modified so that there is no &quot;jump&quot; between from and \t what.</div><div class="ttdef"><b>Definition:</b> cyclic.h:157</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_adf3f559f3099bf6002a8f1331df42142"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">mrs_lib::geometry::cyclic::supremum</a></div><div class="ttdeci">static constexpr flt supremum</div><div class="ttdoc">Supremum of the valid interval of wrapped values .</div><div class="ttdef"><b>Definition:</b> cyclic.h:86</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a78cd52e438886de479af6455e97da2b6"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">mrs_lib::geometry::cyclic::half_range</a></div><div class="ttdeci">static constexpr flt half_range</div><div class="ttdoc">Half of the range of the valid interval of wrapped values  (used for some calculations).</div><div class="ttdef"><b>Definition:</b> cyclic.h:89</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ada8bf8d17bfa81025b75d5a4e1da8ac0"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">mrs_lib::geometry::cyclic::minimum</a></div><div class="ttdeci">static constexpr flt minimum</div><div class="ttdoc">Minimum of the valid interval of wrapped values .</div><div class="ttdef"><b>Definition:</b> cyclic.h:85</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ace7e2ff831cf60311e28a70035114bcd"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">mrs_lib::geometry::cyclic::operator=</a></div><div class="ttdeci">cyclic &amp; operator=(const cyclic &amp;other)</div><div class="ttdoc">Assignment operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:374</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ae0cfbde43f9fa6a3f26f1e4cf8184d30"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">mrs_lib::geometry::cyclic::cyclic</a></div><div class="ttdeci">cyclic(const flt val)</div><div class="ttdoc">Constructor overload.</div><div class="ttdef"><b>Definition:</b> cyclic.h:61</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a9d401b110dd9e5372ffa4951f073e794"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794">mrs_lib::geometry::cyclic::operator-</a></div><div class="ttdeci">friend flt operator-(const cyclic &amp;lhs, const cyclic &amp;rhs)</div><div class="ttdoc">Subtraction operator (uses the diff() method).</div><div class="ttdef"><b>Definition:</b> cyclic.h:434</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_aa86da042144ee34330e4cef57b410f58"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">mrs_lib::geometry::cyclic::convert</a></div><div class="ttdeci">other_t convert() const</div><div class="ttdoc">Conversion between two different circular quantities.</div><div class="ttdef"><b>Definition:</b> cyclic.h:351</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a8c81dca050a406b4225e8816a1955fb2"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">mrs_lib::geometry::cyclic::operator=</a></div><div class="ttdeci">cyclic &amp; operator=(cyclic &amp;&amp;other)</div><div class="ttdoc">Move operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:385</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a9b314c2ffd8a73a5a944bcdb751fdeac"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">mrs_lib::geometry::cyclic::pinterp</a></div><div class="ttdeci">static flt pinterp(const flt from, const flt to, const flt coeff)</div><div class="ttdoc">Interpolation between two circular quantities in the positive direction.</div><div class="ttdef"><b>Definition:</b> cyclic.h:311</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a0d797e1245025227ede866ab08bcc19f"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">mrs_lib::geometry::cyclic::operator+=</a></div><div class="ttdeci">cyclic &amp; operator+=(const cyclic &amp;other)</div><div class="ttdoc">Addition compound operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:397</div></div>
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+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ad45609e5fa890a79729b100231e427da"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">mrs_lib::geometry::cyclic::operator-=</a></div><div class="ttdeci">cyclic &amp; operator-=(const cyclic &amp;other)</div><div class="ttdoc">Subtraction compound operator.</div><div class="ttdef"><b>Definition:</b> cyclic.h:409</div></div>
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+<p>Example file for the cyclical values implementation (see the cyclic class)  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="cyclic_8h_source.html">mrs_lib/geometry/cyclic.h</a>&gt;</code><br />
+<code>#include &lt;random&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for cyclic_example.cpp:</div>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the cyclical values implementation (see the cyclic class) </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> cyclic_example</code>.</p>
+<p>See <a class="el" href="geometry_2cyclic_example_8cpp-example.html">geometry/cyclic_example.cpp</a>. </p>
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+<div class="title">mrs_lib Directory Reference</div>  </div>
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+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Directory dependency graph for mrs_lib:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
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+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">   42</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">Base_class::statecov_t</a>;  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">   44</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">A_t</a>;  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">   45</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, m&gt; <a class="code" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">B_t</a>;  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">   46</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, n&gt; <a class="code" href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">H_t</a>;  </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a87d3b7863fbd0b392f9c831fcaf8e345">   47</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, p&gt; <a class="code" href="classmrs__lib_1_1DKF.html#a87d3b7863fbd0b392f9c831fcaf8e345">K_t</a>;  </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">using</span> mat2_t = Eigen::Matrix&lt;double, 2, 2&gt;;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">using</span> mat3_t = Eigen::Matrix&lt;double, 3, 3&gt;;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">using</span> pt3_t = mrs_lib::geometry::vec3_t;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">using</span> vec3_t = mrs_lib::geometry::vec3_t;</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">   61</a></span>&#160;    <a class="code" href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">DKF</a>(){};</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec">   70</a></span>&#160;    <a class="code" href="classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec">DKF</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">A_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">B_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>) : <a class="code" href="classmrs__lib_1_1LKF.html">Base_class</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, {}) {};</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">/* correct() method //{ */</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">   86</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a> <a class="code" href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">correctLine</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">statecov_t</a>&amp; sc, <span class="keyword">const</span> pt3_t&amp; line_origin, <span class="keyword">const</span> vec3_t&amp; line_direction, <span class="keyword">const</span> <span class="keywordtype">double</span> line_variance)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      assert(line_direction.norm() &gt; 0.0);</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">const</span> vec3_t zunit {0.0, 0.0, 1.0};</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="comment">// rot is a rotation matrix, transforming from F to F&#39;</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">const</span> mat3_t rot = mrs_lib::geometry::rotationBetween(line_direction, zunit);</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="comment">/* const mat3_t rotT = rot.transpose(); */</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">H_t</a> Hprime = rot.block&lt;2, 2&gt;(0, 0);</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">const</span> pt3_t oprime = rot*line_origin;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1DKF.html#ad919f1d7a6f5d8be7361a8336aa6fd85">z_t</a> z = oprime.block&lt;2, 1&gt;(0, 0);</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1DKF.html#a6c1a5e6a6cdcb52271774b566957f948">R_t</a> R = line_variance*R_t::Identity();</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">return</span> correction_impl(sc, z, R, Hprime);</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    };</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  };</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="preprocessor">#endif // DKF_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a1408b975fe2e4bd3fc5009c80d43f06b"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">mrs_lib::DKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> dkf.h:42</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a6c1a5e6a6cdcb52271774b566957f948"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a6c1a5e6a6cdcb52271774b566957f948">mrs_lib::DKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> dkf.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5df2fd299b9da75a872e8d9194da1ca9"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a87db95f28f4834e801cd7fbd0e98e388"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">mrs_lib::LKF::p</a></div><div class="ttdeci">static constexpr int p</div><div class="ttdoc">Length of the measurement vector of the system.</div><div class="ttdef"><b>Definition:</b> lkf.h:44</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_afffd4a1421cb0ca08f75cd10c7cc2c78"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#afffd4a1421cb0ca08f75cd10c7cc2c78">mrs_lib::DKF::p</a></div><div class="ttdeci">static constexpr int p</div><div class="ttdoc">Length of the measurement vector of the system.</div><div class="ttdef"><b>Definition:</b> dkf.h:34</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d5cee075e30da36ffb946cffcfca688"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_ad919f1d7a6f5d8be7361a8336aa6fd85"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#ad919f1d7a6f5d8be7361a8336aa6fd85">mrs_lib::DKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> dkf.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a1c8d43906017aca20230464f87c0a28c"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a1c8d43906017aca20230464f87c0a28c">mrs_lib::DKF::n</a></div><div class="ttdeci">static constexpr int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> dkf.h:32</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a54b2b4a3932510daad92da5a2b1274c1"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> lkf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d2cb5ed042b660f1a44bdb9f4d2612f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_aa351bed9f3bdac26c6ed2526a5b2ac01"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#aa351bed9f3bdac26c6ed2526a5b2ac01">mrs_lib::DKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> dkf.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a68c0d27c7ae1897c6b54cea9e75b95ec"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a68c0d27c7ae1897c6b54cea9e75b95ec">mrs_lib::DKF::DKF</a></div><div class="ttdeci">DKF(const A_t &amp;A, const B_t &amp;B)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> dkf.h:70</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a87d3b7863fbd0b392f9c831fcaf8e345"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a87d3b7863fbd0b392f9c831fcaf8e345">mrs_lib::DKF::K_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, p &gt; K_t</div><div class="ttdoc">Kalman gain matrix type .</div><div class="ttdef"><b>Definition:</b> dkf.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a7e5d887496dea33a60b8cf2a0acc5fec"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">mrs_lib::DKF::correctLine</a></div><div class="ttdeci">virtual statecov_t correctLine(const statecov_t &amp;sc, const pt3_t &amp;line_origin, const vec3_t &amp;line_direction, const double line_variance) const</div><div class="ttdoc">Applies the correction (update, measurement, data) step of the Kalman filter.</div><div class="ttdef"><b>Definition:</b> dkf.h:86</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_aaee9d5c96d921fa7854f24460edf58ab"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">mrs_lib::DKF::H_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, n &gt; H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> dkf.h:46</div></div>
+<div class="ttc" id="amisc_8h_html"><div class="ttname"><a href="misc_8h.html">misc.h</a></div><div class="ttdoc">Defines useful geometry utilities and functions.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_abfad09fe2386fb87eaea7b4dd8b24409"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a75bd345a8f4e3856d35d23d3b85b12cd"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">mrs_lib::DKF::DKF</a></div><div class="ttdeci">DKF()</div><div class="ttdoc">Convenience default constructor.</div><div class="ttdef"><b>Definition:</b> dkf.h:61</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a23db0a12382876c56c4f696119a38dfb"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">mrs_lib::LKF::n</a></div><div class="ttdeci">static constexpr int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> lkf.h:42</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a266b963fd1ed94246fc413ecfa510e54"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a266b963fd1ed94246fc413ecfa510e54">mrs_lib::DKF::m</a></div><div class="ttdeci">static constexpr int m</div><div class="ttdoc">Length of the input vector of the system.</div><div class="ttdef"><b>Definition:</b> dkf.h:33</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a2d88249f1992d772631026387a45445a"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">mrs_lib::LKF&lt; 3, -1, 2 &gt;::B</a></div><div class="ttdeci">B_t B</div><div class="ttdoc">The input to state mapping matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:149</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a5de2bdb0aa87e268361e19206849bb22"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">mrs_lib::DKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> dkf.h:45</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html"><div class="ttname"><a href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a></div><div class="ttdoc">Implementation of the Linear Kalman filter .</div><div class="ttdef"><b>Definition:</b> lkf.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a094cf9bcb768de6db47e4c2703bede20"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a094cf9bcb768de6db47e4c2703bede20">mrs_lib::DKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> dkf.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DKF_html_a59afcc2127ecd2a9dba8a53ca505f97a"><div class="ttname"><a href="classmrs__lib_1_1DKF.html#a59afcc2127ecd2a9dba8a53ca505f97a">mrs_lib::DKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> dkf.h:41</div></div>
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+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: #602020;
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}       
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+        
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}       
+        
+.params .paramdir, .tparams .paramdir {
+        font-family: "courier new",courier,monospace;
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.section.DocNodeRTL {
+  margin-right: 0px;
+  padding-right: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.note.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.warning.DocNodeRTL, dl.attention.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.deprecated.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.todo.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.test.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.bug.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
+	font: 120% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font: 50% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+div.zoom
+{
+	border: 1px solid #90A5CE;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:#334975;
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+}
+
+dl.citelist dd {
+        margin:2px 0;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+.PageDocRTL-title div.toc {
+  float: left !important;
+  text-align: right;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,DejaVu Sans,Geneva,sans-serif;
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+.PageDocRTL-title div.toc li {
+  background-position-x: right !important;
+  padding-left: 0 !important;
+  padding-right: 10px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 Arial,FreeSans,sans-serif;
+	color: #4665A2;
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}       
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+.PageDocRTL-title div.toc li.level1 {
+  margin-left: 0 !important;
+  margin-right: 0;
+}
+
+.PageDocRTL-title div.toc li.level2 {
+  margin-left: 0 !important;
+  margin-right: 15px;
+}
+
+.PageDocRTL-title div.toc li.level3 {
+  margin-left: 0 !important;
+  margin-right: 30px;
+}
+
+.PageDocRTL-title div.toc li.level4 {
+  margin-left: 0 !important;
+  margin-right: 45px;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: gray;
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	white-space: nowrap;
+	background-color: white;
+	border: 1px solid gray;
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: 1px 1px 7px gray;
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: grey;
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: #006318;
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font: 12px/16px Roboto,sans-serif;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: #FFFFFF;
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before {
+	border-top-color: #808080;
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
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+<p>Example file for the DynamicPublisher convenience class.  
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+Functions</h2></td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><b>main</b> (int argc, char **argv)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the DynamicPublisher convenience class. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> dynamic_publisher_example</code>.</p>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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+<p>Defines DynamicPublisher for easy debug publishing of ROS messages.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="publisher__handler_8h_source.html">mrs_lib/publisher_handler.h</a>&gt;</code><br />
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd>
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+<a href="dynamic__publisher_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef DYNAMIC_PUBLISHER_H</span></div>
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+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="publisher__handler_8h.html">mrs_lib/publisher_handler.h</a>&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
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+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DynamicPublisher.html">   26</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1DynamicPublisher.html">DynamicPublisher</a></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">public</span>:</div>
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+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="classmrs__lib_1_1DynamicPublisher.html#a2c671b4d99d4bb6bde12e7a1d8717687">DynamicPublisher</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh);</div>
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+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
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+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/impl/dynamic_publisher.hpp&gt;</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#endif  // DYNAMIC_PUBLISHER_H</span></div>
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+<div class="ttc" id="aclassmrs__lib_1_1DynamicPublisher_html_a57946b630bcf2892658f754ecb6b735d"><div class="ttname"><a href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">mrs_lib::DynamicPublisher::publish</a></div><div class="ttdeci">void publish(const std::string name, const T &amp;msg)</div><div class="ttdoc">Publishes a message to a topic, advertising the topic if necessary.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DynamicPublisher_html"><div class="ttname"><a href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a></div><div class="ttdoc">A helper class for easy publishing of ROS messages for debugging purposes.</div><div class="ttdef"><b>Definition:</b> dynamic_publisher.h:26</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+<div class="ttc" id="apublisher__handler_8h_html"><div class="ttname"><a href="publisher__handler_8h.html">publisher_handler.h</a></div><div class="ttdoc">Defines PublisherHandler and related convenience classes for upgrading the ROS publisher.</div></div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"><a class="line" href="classDynamicPublisher_1_1impl.html">    1</a></span>&#160;<span class="keyword">class </span><a class="code" href="classDynamicPublisher_1_1impl.html">DynamicPublisher::impl</a></div>
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+<p>Defines DynamicReconfigureMgr - a convenience class for managing dynamic ROS parameters through dynamic reconfigure.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;dynamic_reconfigure/server.h&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;map&gt;</code><br />
+<code>#include &lt;unordered_set&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;iostream&gt;</code><br />
+<code>#include &lt;boost/any.hpp&gt;</code><br />
+<code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;<a class="el" href="param__loader_8h_source.html">mrs_lib/param_loader.h</a>&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines DynamicReconfigureMgr - a convenience class for managing dynamic ROS parameters through dynamic reconfigure. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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+<div class="title">dynamic_reconfigure_mgr.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="dynamic__reconfigure__mgr_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef DYNAMIC_RECONFIGURE_MGR_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define DYNAMIC_RECONFIGURE_MGR_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;dynamic_reconfigure/server.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;unordered_set&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;boost/any.hpp&gt;</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="param__loader_8h.html">mrs_lib/param_loader.h</a>&gt;</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// This class handles dynamic reconfiguration of parameters using dynamic_reconfigure server.</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Initialize this manager simply by instantiating an object of this templated class</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// with the template parameter corresponding to the type of your config message, e.g. as</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// DynamicReconfigureMgr&lt;MyConfig&gt; drmgr;</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">// This will automatically initialize the dynamic_reconfigure server and a callback method</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// to asynchronously update the values in the config.</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">// Optionally, you can specify the ros NodeHandle to initialize the dynamic_reconfigure server</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// and a flag &#39;print_values&#39; to indicate whether to print new received values (only changed ones,</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">// default is true).</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">// The latest configuration is available through the public member &#39;config&#39;. This should be</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">// changed externally with care since any change risks being overwritten in the next call to</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// the &#39;dynamic_reconfigure_callback&#39; method.</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">// Note that in case of a multithreaded ROS node, external mutexes _might_ be necessary</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">// to make access to the &#39;config&#39; member thread-safe.</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> ConfigType&gt;</div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1DynamicReconfigureMgr.html">   40</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keyword">using</span> callback_t = <span class="keyword">typename</span> dynamic_reconfigure::Server&lt;ConfigType&gt;::CallbackType;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">// this variable holds the latest received configuration</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  ConfigType config;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">// initialize some stuff in the constructor</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh = ros::NodeHandle(<span class="stringliteral">&quot;~&quot;</span>), <span class="keywordtype">bool</span> print_values = <span class="keyword">true</span>, std::string node_name = std::string(), <span class="keyword">const</span> callback_t&amp; user_callback = {})</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      : m_not_initialized(<span class="keyword">true</span>),</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        m_loaded_invalid_default(<span class="keyword">false</span>),</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        m_print_values(print_values),</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        m_node_name(node_name),</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        m_server(m_server_mtx, nh),</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        m_usr_cbf(user_callback),</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        m_pl(nh, print_values, node_name)</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">// initialize the dynamic reconfigure callback</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    m_server.setCallback(boost::bind(&amp;<a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr&lt;ConfigType&gt;::dynamic_reconfigure_callback</a>, <span class="keyword">this</span>, _1, _2));</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  };</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">/* Constructor overloads //{ */</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// Convenience constructor to enable writing DynamicReconfigureMgr&lt;MyConfig&gt; drmgr(nh, node_name)</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, std::string node_name) : <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(nh, <span class="keyword">true</span>, node_name){};</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Convenience constructor to enable writing DynamicReconfigureMgr&lt;MyConfig&gt; drmgr(nh, &quot;node_name&quot;)</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> <span class="keywordtype">char</span>* node_name) : <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(nh, std::string(node_name)){};</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Convenience constructor to enable writing DynamicReconfigureMgr&lt;MyConfig&gt; drmgr(node_name)</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(std::string node_name) : <a class="code" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a>(ros::NodeHandle(<span class="stringliteral">&quot;~&quot;</span>), node_name){};</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// pushes this config to the server</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">void</span> update_config(<span class="keyword">const</span> ConfigType&amp; cfg)</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    m_server.updateConfig(cfg);</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// pushes the current config to the server</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">void</span> update_config()</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    m_server.updateConfig(config);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">void</span> publish_descriptions()</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    ConfigType dflt;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    m_server.getConfigDefault(dflt);</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    m_server.setConfigDefault(dflt);</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">bool</span> loaded_successfully()</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">return</span> !m_not_initialized &amp;&amp; !m_loaded_invalid_default &amp;&amp; m_pl.<a class="code" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">loadedSuccessfully</a>();</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  }</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">bool</span> m_not_initialized, m_loaded_invalid_default, m_print_values;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  std::string m_node_name;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">// dynamic_reconfigure server variables</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  boost::recursive_mutex m_server_mtx;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">typename</span> dynamic_reconfigure::Server&lt;ConfigType&gt; m_server;</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  callback_t m_usr_cbf;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="classmrs__lib_1_1ParamLoader.html">ParamLoader</a> m_pl;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  std::unordered_set&lt;std::string&gt; m_to_init;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// the callback itself</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordtype">void</span> dynamic_reconfigure_callback(ConfigType&amp; new_config, uint32_t level)</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  {</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">if</span> (m_print_values)</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    {</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        ROS_INFO(<span class="stringliteral">&quot;Dynamic reconfigure request received&quot;</span>);</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        ROS_INFO(<span class="stringliteral">&quot;[%s]: Dynamic reconfigure request received&quot;</span>, m_node_name.c_str());</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">if</span> (m_not_initialized)</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    {</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      load_defaults(new_config);</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      update_config(new_config);</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">if</span> (m_print_values)</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    {</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      print_changed_params(new_config);</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    m_not_initialized = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    config = new_config;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (m_usr_cbf)</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      m_usr_cbf(new_config, level);</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordtype">void</span> load_param(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">typename</span> ConfigType::AbstractParamDescriptionConstPtr&amp; descr, ConfigType&amp; config)</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">using</span> param_descr_t = <span class="keyword">typename</span> ConfigType::template ParamDescription&lt;T&gt;;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    boost::shared_ptr&lt;const param_descr_t&gt; cast_descr = boost::dynamic_pointer_cast&lt;const param_descr_t&gt;(descr);</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    m_pl.<a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(name, config.*(cast_descr-&gt;field));</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordtype">void</span> load_defaults(ConfigType&amp; new_config)</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  {</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="comment">// Note that this part of the API is still unstable and may change! It was tested with ROS Kinetic and Melodic.</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    std::vector&lt;typename ConfigType::AbstractParamDescriptionConstPtr&gt; descrs = new_config.__getParamDescriptions__();</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; descr : descrs)</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      std::string name = descr-&gt;name;</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">size_t</span> pos = name.find(<span class="stringliteral">&quot;__&quot;</span>);</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordflow">while</span> (pos != name.npos)</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        name.replace(pos, 2, <span class="stringliteral">&quot;/&quot;</span>);</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        pos = name.find(<span class="stringliteral">&quot;__&quot;</span>);</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordflow">if</span> (descr-&gt;type == <span class="stringliteral">&quot;bool&quot;</span>)</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        load_param&lt;bool&gt;(name, descr, new_config);</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (descr-&gt;type == <span class="stringliteral">&quot;int&quot;</span>)</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        load_param&lt;int&gt;(name, descr, new_config);</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (descr-&gt;type == <span class="stringliteral">&quot;double&quot;</span>)</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        load_param&lt;double&gt;(name, descr, new_config);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (descr-&gt;type == <span class="stringliteral">&quot;str&quot;</span>)</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        load_param&lt;std::string&gt;(name, descr, new_config);</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        ROS_ERROR(<span class="stringliteral">&quot;[%s]: Unknown parameter type: &#39;%s&#39;&quot;</span>, m_node_name.c_str(), descr-&gt;type.c_str());</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        m_loaded_invalid_default = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="comment">// method for printing names and values of new received parameters (prints only the changed ones) //{</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordtype">void</span> print_changed_params(<span class="keyword">const</span> ConfigType&amp; new_config)</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// Note that this part of the API is still unstable and may change! It was tested with ROS Kinetic and Melodic.</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    std::vector&lt;typename ConfigType::AbstractParamDescriptionConstPtr&gt; descrs = new_config.__getParamDescriptions__();</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; descr : descrs)</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    {</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      boost::any val, old_val;</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      descr-&gt;getValue(new_config, val);</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      descr-&gt;getValue(config, old_val);</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      std::string name = descr-&gt;name;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> pos = name.find(<span class="stringliteral">&quot;__&quot;</span>);</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordflow">if</span> (pos != name.npos)</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordflow">if</span> (m_not_initialized)</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        {</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        {</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          name.replace(pos, 2, <span class="stringliteral">&quot;/&quot;</span>);</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        }</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="comment">// try to guess the correct type of the parameter (these should be the only ones supported)</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordtype">int</span>* intval;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keywordtype">double</span>* doubleval;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordtype">bool</span>* boolval;</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      std::string* stringval;</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordflow">if</span> (try_cast(val, intval))</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      {</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordflow">if</span> (m_not_initialized || !try_compare(old_val, intval))</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          print_value(name, *intval);</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (try_cast(val, doubleval))</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      {</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">if</span> (m_not_initialized || !try_compare(old_val, doubleval))</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          print_value(name, *doubleval);</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (try_cast(val, boolval))</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      {</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">if</span> (m_not_initialized || !try_compare(old_val, boolval))</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          print_value(name, *boolval);</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (try_cast(val, stringval))</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      {</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">if</span> (m_not_initialized || !try_compare(old_val, stringval))</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          print_value(name, *stringval);</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      {</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        print_value(name, std::string(<span class="stringliteral">&quot;unknown dynamic reconfigure type&quot;</span>));</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  }</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  </div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">// helper method for parameter printing</span></div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> print_value(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> T&amp; val)</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  {</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span> &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span> &lt;&lt; val &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter &#39;&quot;</span> &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;&#39;:\t&quot;</span> &lt;&lt; val);</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  }</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="comment">// helper methods for automatic parameter value parsing</span></div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> try_cast(boost::any&amp; val, T*&amp; out)</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  {</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">return</span> (out = boost::any_cast&lt;T&gt;(&amp;val));</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  }</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span> try_compare(boost::any&amp; val, T*&amp; to_what)</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  {</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    T* tmp;</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordflow">if</span> ((tmp = boost::any_cast&lt;T&gt;(&amp;val)))</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    {</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="comment">/* std::cout &lt;&lt; std::endl &lt;&lt; *tmp &lt;&lt; &quot; vs &quot; &lt;&lt; *to_what &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">return</span> *tmp == *to_what;</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    {  <span class="comment">// the value should not change during runtime - this should never happen (but its better to be safe than sorry)</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;DynamicReconfigure value type has changed - this should not happen!&quot;</span>);</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        ROS_WARN_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: DynamicReconfigure value type has changed - this should not happen!&quot;</span>);</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    }</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;};</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;}</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="preprocessor">#endif // DYNAMIC_RECONFIGURE_MGR_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ad49130b893f09bc2247e2bc37a41f6d5"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">mrs_lib::ParamLoader::loadedSuccessfully</a></div><div class="ttdeci">bool loadedSuccessfully()</div><div class="ttdoc">Indicates whether all compulsory parameters were successfully loaded.</div><div class="ttdef"><b>Definition:</b> param_loader.h:608</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aparam__loader_8h_html"><div class="ttname"><a href="param__loader_8h.html">param_loader.h</a></div><div class="ttdoc">Defines ParamLoader - a convenience class for loading static ROS parameters.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a9e55225fa7d9de0e948b2e64494eb229"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</div><div class="ttdoc">Loads a parameter from the rosparam server with a default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:628</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DynamicReconfigureMgr_html"><div class="ttname"><a href="classmrs__lib_1_1DynamicReconfigureMgr.html">mrs_lib::DynamicReconfigureMgr</a></div><div class="ttdef"><b>Definition:</b> dynamic_reconfigure_mgr.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></div><div class="ttdoc">Convenience class for loading parameters from rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:43</div></div>
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+<title>mrs_lib: dynamic_publisher/example.cpp</title>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
+<div class="title">dynamic_publisher/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> dynamic_publisher_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="preprocessor">#include &lt;<a class="code" href="dynamic__publisher_8h.html">mrs_lib/dynamic_publisher.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;std_msgs/Float32.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;geometry_msgs/Point.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">/* Set up ROS. */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string node_name(<span class="stringliteral">&quot;dynamic_publisher_example&quot;</span>);</div>
+<div class="line">  ros::init(argc, argv, node_name);</div>
+<div class="line">  ros::NodeHandle nh;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// the class can be copied or initialized without a parameter (but then it won&#39;t use your node&#39;s namespacing, remapping etc.)</span></div>
+<div class="line">  <a name="_a0"></a><a class="code" href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a> dynpub, dynpub2;</div>
+<div class="line">  dynpub = <a class="code" href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a>(nh);</div>
+<div class="line"> </div>
+<div class="line">  ros::Duration slp(0.5);</div>
+<div class="line"> </div>
+<div class="line">  std_msgs::Float32 float_msg;</div>
+<div class="line">  geometry_msgs::Point pt_msg;</div>
+<div class="line"> </div>
+<div class="line">  ROS_INFO(<span class="stringliteral">&quot;Publishing topics! Use `rostopic list` and `rostopic echo &lt;topic_name&gt;` to see them.&quot;</span>);</div>
+<div class="line">  <span class="keywordflow">while</span> (ros::ok())</div>
+<div class="line">  {</div>
+<div class="line">    float_msg.data += 666.0f;</div>
+<div class="line">    dynpub.<a name="a1"></a><a class="code" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">publish</a>(<span class="stringliteral">&quot;float_topic&quot;</span>, float_msg);</div>
+<div class="line">    <span class="comment">/* Avoid publishing a message of different type on the same topic! */</span></div>
+<div class="line">    <span class="comment">/* dynpub.publish(&quot;float_topic&quot;, pt_msg); */</span></div>
+<div class="line"> </div>
+<div class="line">    pt_msg.x = float_msg.data/1;</div>
+<div class="line">    pt_msg.y = float_msg.data/2;</div>
+<div class="line">    pt_msg.z = float_msg.data/3;</div>
+<div class="line">    dynpub.<a class="code" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">publish</a>(<span class="stringliteral">&quot;point_topic&quot;</span>, pt_msg);</div>
+<div class="line">    <span class="comment">/* Avoid publishing a message of different type on the same topic! They will be ignored and will spam you with errors. */</span></div>
+<div class="line">    dynpub.<a class="code" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">publish</a>(<span class="stringliteral">&quot;point_topic&quot;</span>, float_msg);</div>
+<div class="line"> </div>
+<div class="line">    ros::spinOnce();</div>
+<div class="line">    slp.sleep();</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1DynamicPublisher_html_a57946b630bcf2892658f754ecb6b735d"><div class="ttname"><a href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">mrs_lib::DynamicPublisher::publish</a></div><div class="ttdeci">void publish(const std::string name, const T &amp;msg)</div><div class="ttdoc">Publishes a message to a topic, advertising the topic if necessary.</div></div>
+<div class="ttc" id="adynamic__publisher_8h_html"><div class="ttname"><a href="dynamic__publisher_8h.html">dynamic_publisher.h</a></div><div class="ttdoc">Defines DynamicPublisher for easy debug publishing of ROS messages.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1DynamicPublisher_html"><div class="ttname"><a href="classmrs__lib_1_1DynamicPublisher.html">mrs_lib::DynamicPublisher</a></div><div class="ttdoc">A helper class for easy publishing of ROS messages for debugging purposes.</div><div class="ttdef"><b>Definition:</b> dynamic_publisher.h:26</div></div>
+<!-- start footer part -->
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+</div>
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+</html>
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+++ b/dynsections.js
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+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
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+
+ This program is distributed in the hope that it will be useful,
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+
+ You should have received a copy of the GNU General Public License along
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+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
+ var summary = $('#'+base+'-summary');
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+
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+
+  // all rows after the clicked row
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+
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+
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+    currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
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+    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
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+  var img = $('tr.inherit_header.'+id+' img');
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+  } else {
+    rows.css('display','table-row'); // using show() causes jump in firefox
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+  }
+}
+/* @license-end */
diff --git a/examples.html b/examples.html
new file mode 100644
index 00000000..d0022ca8
--- /dev/null
+++ b/examples.html
@@ -0,0 +1,123 @@
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Examples</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all examples:</div><ul>
+<li><a class="el" href="dynamic_publisher_2example_8cpp-example.html">dynamic_publisher/example.cpp</a></li>
+
+<li><a class="el" href="geometry_2cyclic_example_8cpp-example.html">geometry/cyclic_example.cpp</a></li>
+
+<li><a class="el" href="lkf_2example_8cpp-example.html">lkf/example.cpp</a></li>
+
+<li><a class="el" href="param_loader_2example_8cpp-example.html">param_loader/example.cpp</a></li>
+
+<li><a class="el" href="repredictor_2example_8cpp-example.html">repredictor/example.cpp</a></li>
+
+<li><a class="el" href="rheiv_2example_8cpp-example.html">rheiv/example.cpp</a></li>
+
+<li><a class="el" href="subscribe_handler_2example_8cpp-example.html">subscribe_handler/example.cpp</a></li>
+
+<li><a class="el" href="subscribe_handler_2simple_example_8cpp-example.html">subscribe_handler/simple_example.cpp</a></li>
+
+<li><a class="el" href="ukf_2example_8cpp-example.html">ukf/example.cpp</a></li>
+
+<li><a class="el" href="vector_converter_2example_8cpp-example.html">vector_converter/example.cpp</a></li>
+
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span>]</div><table class="directory">
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+\_form#0:$ \mathbf{x} $
+\_form#1:$ \mathbf{u} $
+\_form#2:$ \mathbf{z} $
+\_form#3:$n \times 1$
+\_form#4:$m \times 1$
+\_form#5:$p \times 1$
+\_form#6:$n \times n$
+\_form#7:$p \times p$
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+\_form#9:$p \times n$
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+\_form#14:$ v $
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+\_form#16:$ m $
+\_form#17:$ s $
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+\_form#20:$ v \in [~0,~2\pi~[ $
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+\_form#24:$ v' $
+\_form#25:$ m = 0,~s=360 $
+\_form#26:$ \pi $
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+\_form#28:$ n_q \times 1 $
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+\_form#30:$ n_q \times p $
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+\_form#50:$l_r \times l_r$
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+\_form#52:$m \mathbf{M} 1$
+\_form#53:$m \mathbf{N} 1$
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+\_form#59:$ a $
+\_form#60:$ b $
+\_form#61:$ c $
+\_form#62:$ d $
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>a()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">mrs_lib::geometry::Ellipse</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">mrs_lib::geometry::Triangle</a>
+</li>
+<li>A
+: <a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>A_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#aa7b38a32abe6a319930d6392178d5e3e">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>add()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">mrs_lib::MedianFilter</a>
+</li>
+<li>addCheck()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">mrs_lib::MedianFilter</a>
+</li>
+<li>addCone()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addCuboid()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addCylinder()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addEllipse()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addInputChange()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addInputChangeWithNoise()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addMeasurement()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addNullLine()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7f4d6d1ae967d6a5c15351969d9e4592">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addNullPoint()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7556fd856cd4be7d0bdea9a4c0c6e1fc">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addNullTriangle()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a6a844cdffd1474570988e8d1a87126cb">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addPoint()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addProcessNoiseChange()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addRay()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addRectangle()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addTrajectory()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addTriangle()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addYamlFile()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">mrs_lib::ParamLoader</a>
+, <a class="el" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">mrs_lib::ParamProvider</a>
+</li>
+<li>addYamlFileFromParam()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">mrs_lib::ParamLoader</a>
+</li>
+<li>AtomicScopeFlag()
+: <a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">mrs_lib::AtomicScopeFlag</a>
+</li>
+<li>AttitudeConverter()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a9f00a180ebe802b8b7e30e08cc688f26">mrs_lib::AttitudeConverter</a>
+</li>
+<li>autostart
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aab7865b63b3dd44b61dba06c54f981c8">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_b.html b/functions_b.html
new file mode 100644
index 00000000..d71ab4d9
--- /dev/null
+++ b/functions_b.html
@@ -0,0 +1,129 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_b.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>b()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">mrs_lib::geometry::Ellipse</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">mrs_lib::geometry::Triangle</a>
+</li>
+<li>B
+: <a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>B_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>Base_class
+: <a class="el" href="classmrs__lib_1_1DKF.html#ad7e6756be6a89592151d092f20d19811">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#ae54a2cc807bafeee1777ffdbd37e3c02">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#aa670be9fba29c7d8d8c7c849d9d844d1">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a13dac50b4906535f6ff5837b1057597f">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ae5a0eb2f31131ed4cec117d4a1000080">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>BatchVisualizer()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3a857713e5516bec553b5380eaa423f8">mrs_lib::BatchVisualizer</a>
+</li>
+<li>beQuiet()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#ab1e3fff472e6c6320a41d6f6ca331ca0">mrs_lib::Transformer</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_c.html b/functions_c.html
new file mode 100644
index 00000000..37b0d568
--- /dev/null
+++ b/functions_c.html
@@ -0,0 +1,168 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_c.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>c()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">mrs_lib::geometry::Triangle</a>
+</li>
+<li>C_t
+: <a class="el" href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+</li>
+<li>call()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a7eee51ebff7a805d425673ddc166d489">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>callAsync()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>center()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">mrs_lib::geometry::Cuboid</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">mrs_lib::geometry::Cylinder</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">mrs_lib::geometry::Ellipse</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9">mrs_lib::geometry::Triangle</a>
+</li>
+<li>check()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">mrs_lib::MedianFilter</a>
+</li>
+<li>checkpoint()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938">mrs_lib::ScopeTimer</a>
+</li>
+<li>clear()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">mrs_lib::MedianFilter</a>
+</li>
+<li>clearBuffers()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f">mrs_lib::BatchVisualizer</a>
+</li>
+<li>clearVisuals()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb">mrs_lib::BatchVisualizer</a>
+</li>
+<li>Cone()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399">mrs_lib::geometry::Cone</a>
+</li>
+<li>convert()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>correct()
+: <a class="el" href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>correctLine()
+: <a class="el" href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">mrs_lib::DKF</a>
+</li>
+<li>createRoutine()
+: <a class="el" href="classmrs__lib_1_1Profiler.html#aaf170ec3c6f67e11931cde978a5d3750">mrs_lib::Profiler</a>
+</li>
+<li>Cuboid()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a31a698a34b8443596be58a06f3046c79">mrs_lib::geometry::Cuboid</a>
+</li>
+<li>cyclic()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>Cylinder()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a868fdc0baa204d3bf78d614b532aa32e">mrs_lib::geometry::Cylinder</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_d.html b/functions_d.html
new file mode 100644
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--- /dev/null
+++ b/functions_d.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+       class="ui-resizable-handle">
+  </div>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_d.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>d()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>D_t
+: <a class="el" href="classmrs__lib_1_1JLKF.html#ac047c1625da963988acfc47edc200a57">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+</li>
+<li>diff()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>direction()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">mrs_lib::geometry::Ray</a>
+</li>
+<li>directionCast()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ab8ea82597cf6d0eb1e72105c13f41fed">mrs_lib::geometry::Ray</a>
+</li>
+<li>dist()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>DKF()
+: <a class="el" href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">mrs_lib::DKF</a>
+</li>
+<li>DynamicPublisher()
+: <a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a2c671b4d99d4bb6bde12e7a1d8717687">mrs_lib::DynamicPublisher</a>
+</li>
+<li>dzdx_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>dzdxs_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_e.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>Ellipse()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">mrs_lib::geometry::Ellipse</a>
+</li>
+<li>eta_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>EulerAttitude()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521">mrs_lib::EulerAttitude</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_f.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>f_dzdx_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>f_z_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>fit()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>fit_ALS()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>frame_from()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a7a53d960ee4b76ea943d9c19d23f2e95">mrs_lib::Transformer</a>
+</li>
+<li>frame_to()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">mrs_lib::Transformer</a>
+</li>
+<li>full()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">mrs_lib::MedianFilter</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func.html b/functions_func.html
new file mode 100644
index 00000000..e48d3157
--- /dev/null
+++ b/functions_func.html
@@ -0,0 +1,173 @@
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
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+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>a()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">mrs_lib::geometry::Ellipse</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">mrs_lib::geometry::Triangle</a>
+</li>
+<li>add()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">mrs_lib::MedianFilter</a>
+</li>
+<li>addCheck()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">mrs_lib::MedianFilter</a>
+</li>
+<li>addCone()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a937c831f9caac50bc84f671c3260f1a7">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addCuboid()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ab5aba26d50dbe7fe22cd4c0549a99051">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addCylinder()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#abd2f9394a4cb63da0478ad1621ed7e79">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addEllipse()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac03c515ed44761d88f43a2af446c26b7">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addInputChange()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addInputChangeWithNoise()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addMeasurement()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addNullLine()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7f4d6d1ae967d6a5c15351969d9e4592">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addNullPoint()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a7556fd856cd4be7d0bdea9a4c0c6e1fc">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addNullTriangle()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a6a844cdffd1474570988e8d1a87126cb">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addPoint()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac9c76c18ef837dc7b87cf20f5e2511b9">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addProcessNoiseChange()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>addRay()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae3c2f932f592a0e61da8e51643cc686a">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addRectangle()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5a68c474ce18a4fccbc8f14066267d73">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addTrajectory()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a5dad7ddef02d959da350385544b98063">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addTriangle()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ae2cf4d2a0578711a060f7f398179a677">mrs_lib::BatchVisualizer</a>
+</li>
+<li>addYamlFile()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">mrs_lib::ParamLoader</a>
+, <a class="el" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">mrs_lib::ParamProvider</a>
+</li>
+<li>addYamlFileFromParam()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">mrs_lib::ParamLoader</a>
+</li>
+<li>AtomicScopeFlag()
+: <a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">mrs_lib::AtomicScopeFlag</a>
+</li>
+<li>AttitudeConverter()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a1a98367c2a004a298a2026d883cfc0eb">mrs_lib::AttitudeConverter</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+       class="ui-resizable-handle">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>b()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">mrs_lib::geometry::Ellipse</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">mrs_lib::geometry::Triangle</a>
+</li>
+<li>BatchVisualizer()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a2a426c62b02dec6430362920db0d6c80">mrs_lib::BatchVisualizer</a>
+</li>
+<li>beQuiet()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#ab1e3fff472e6c6320a41d6f6ca331ca0">mrs_lib::Transformer</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_c.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>c()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a9cd35540a57a2b0663a2a4b360e02d8c">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">mrs_lib::geometry::Triangle</a>
+</li>
+<li>call()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#afdf41e0cf6b2fa0941ee0ae703facc71">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a35cc1c54991d1eb2801e2dfd205e1ef0">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>callAsync()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>center()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">mrs_lib::geometry::Cuboid</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">mrs_lib::geometry::Cylinder</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">mrs_lib::geometry::Ellipse</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9">mrs_lib::geometry::Triangle</a>
+</li>
+<li>check()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">mrs_lib::MedianFilter</a>
+</li>
+<li>checkpoint()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938">mrs_lib::ScopeTimer</a>
+</li>
+<li>clear()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">mrs_lib::MedianFilter</a>
+</li>
+<li>clearBuffers()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a317a263d7a57b88805a3d264976b4c9f">mrs_lib::BatchVisualizer</a>
+</li>
+<li>clearVisuals()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#aacda752bbfd192279da0fe15f001b0bb">mrs_lib::BatchVisualizer</a>
+</li>
+<li>Cone()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a078bc613852240cbf2a0adb086d3d127">mrs_lib::geometry::Cone</a>
+</li>
+<li>convert()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>correct()
+: <a class="el" href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a66c1e0d2e496f304a4f6166e7b894aac">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>correctLine()
+: <a class="el" href="classmrs__lib_1_1DKF.html#a7e5d887496dea33a60b8cf2a0acc5fec">mrs_lib::DKF</a>
+</li>
+<li>createRoutine()
+: <a class="el" href="classmrs__lib_1_1Profiler.html#a631e75be501cf4353dc8578bd9f66029">mrs_lib::Profiler</a>
+</li>
+<li>Cuboid()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a34b3cc64de7244e0b3ac2f71cdb22d95">mrs_lib::geometry::Cuboid</a>
+</li>
+<li>cyclic()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>Cylinder()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#ae4b5f3500ae892f398ab88f5e545e0aa">mrs_lib::geometry::Cylinder</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_d.html b/functions_func_d.html
new file mode 100644
index 00000000..84eb68bf
--- /dev/null
+++ b/functions_func_d.html
@@ -0,0 +1,123 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_d.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>d()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>diff()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>direction()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">mrs_lib::geometry::Ray</a>
+</li>
+<li>directionCast()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ab8ea82597cf6d0eb1e72105c13f41fed">mrs_lib::geometry::Ray</a>
+</li>
+<li>dist()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>DKF()
+: <a class="el" href="classmrs__lib_1_1DKF.html#a75bd345a8f4e3856d35d23d3b85b12cd">mrs_lib::DKF</a>
+</li>
+<li>DynamicPublisher()
+: <a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a6a17d49f4d7203f8b8693c6ceb2fb1d9">mrs_lib::DynamicPublisher</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_e.html b/functions_func_e.html
new file mode 100644
index 00000000..71319238
--- /dev/null
+++ b/functions_func_e.html
@@ -0,0 +1,107 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_e.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>Ellipse()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">mrs_lib::geometry::Ellipse</a>
+</li>
+<li>EulerAttitude()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#ac4da09217c4956043801841737da8521">mrs_lib::EulerAttitude</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_f.html b/functions_func_f.html
new file mode 100644
index 00000000..db08a092
--- /dev/null
+++ b/functions_func_f.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+  <div id="nav-tree">
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_f.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>fit()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>fit_ALS()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>frame_from()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">mrs_lib::Transformer</a>
+</li>
+<li>frame_to()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">mrs_lib::Transformer</a>
+</li>
+<li>full()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">mrs_lib::MedianFilter</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_g.html b/functions_func_g.html
new file mode 100644
index 00000000..c8e08e1c
--- /dev/null
+++ b/functions_func_g.html
@@ -0,0 +1,169 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_g.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>get_ALS_estimate()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>get_last_estimate()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>getCap()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>getExtrinsicRPY()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getHeading()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getHeadingRate()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getIntrinsicRPY()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getLifetime()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">mrs_lib::ScopeTimer</a>
+</li>
+<li>getLogFilepath()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>getMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>getNumSubscribers()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>getParam()
+: <a class="el" href="classmrs__lib_1_1ParamProvider.html#aa3106f4d258195b890e8583d485c7547">mrs_lib::ParamProvider</a>
+</li>
+<li>getPitch()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getPrefix()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">mrs_lib::ParamLoader</a>
+</li>
+<li>getRectangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb">mrs_lib::geometry::Cuboid</a>
+</li>
+<li>getRoll()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getTransform()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a3a29dfb385f1b9c4deee695181880995">mrs_lib::Transformer</a>
+</li>
+<li>getVectorX()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getVectorY()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getVectorZ()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getYaw()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getYawRateIntrinsic()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913">mrs_lib::AttitudeConverter</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
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+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+  </div>
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>h()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>hasMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_i.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>initialize()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+</li>
+<li>initialized()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">mrs_lib::MedianFilter</a>
+</li>
+<li>inRange()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>interp()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>interpUnwrapped()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>intersectionRay()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#adfde2a501c9806bd6e6e99dcf0cac6ff">mrs_lib::geometry::Cuboid</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">mrs_lib::geometry::Triangle</a>
+</li>
+<li>inverse()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a17440196c1c894e265f77b0b9112336a">mrs_lib::Transformer</a>
+</li>
+<li>isFacing()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a62a1b7d39bd141d4c38d8079d43ffe02">mrs_lib::geometry::Rectangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_j.html b/functions_func_j.html
new file mode 100644
index 00000000..c136f10b
--- /dev/null
+++ b/functions_func_j.html
@@ -0,0 +1,104 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+      <div id="nav-sync" class="sync"></div>
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+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_j.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>JLKF()
+: <a class="el" href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_l.html b/functions_func_l.html
new file mode 100644
index 00000000..196373fb
--- /dev/null
+++ b/functions_func_l.html
@@ -0,0 +1,146 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+  </div>
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+       class="ui-resizable-handle">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_l.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>lastMsgTime()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>LKF()
+: <a class="el" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>loadedSuccessfully()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixArray()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixArray2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixDynamic()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixDynamic2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixStatic()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#af96b60fd7bce95d3e1d3aa351bccba9b">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixStatic2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a2a78e5b64d8681a46976a6e9d0486b1a">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParam()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParam2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParamReusable()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParamReusable2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">mrs_lib::ParamLoader</a>
+</li>
+<li>log()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8f3794f5477960606a86543ddb708b1f">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>loggingEnabled()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">mrs_lib::ScopeTimerLogger</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+      <div id="nav-sync" class="sync"></div>
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+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_m.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>median()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">mrs_lib::MedianFilter</a>
+</li>
+<li>MedianFilter()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a46da8f440b739a1d01710104fc38611c">mrs_lib::MedianFilter</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_n.html b/functions_func_n.html
new file mode 100644
index 00000000..d563dca7
--- /dev/null
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@@ -0,0 +1,114 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>NCLKF()
+: <a class="el" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>NCLKF_partial()
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>newMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>normal()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6">mrs_lib::geometry::Triangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_o.html b/functions_func_o.html
new file mode 100644
index 00000000..5c79202d
--- /dev/null
+++ b/functions_func_o.html
@@ -0,0 +1,158 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_o.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>operator Eigen::AngleAxis&lt; T &gt;()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a10847ba4ce35fa86efbe5933ba488183">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator Eigen::Quaternion&lt; T &gt;()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6db421976b5060c086f495f00edca314">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator Eigen::Vector3d()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#a69c3a9a8dbcff2876e40d28022c019e3">mrs_lib::Vector3Converter</a>
+</li>
+<li>operator EulerAttitude()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a03ef9a1c10a9963e650fa217f0f04707">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator geometry_msgs::Quaternion()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abc1686c5d27246a937c661f313ca13d0">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator geometry_msgs::Vector3()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#a6f6edf59403aded9e3bffcd603cce5c0">mrs_lib::Vector3Converter</a>
+</li>
+<li>operator std::tuple&lt; double &amp;, double &amp;, double &amp; &gt;()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a8f7e3a434632e7546149d64b2ab2e191">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Matrix3x3()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a123b85369560e858a9d3aba19a49227a">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Quaternion()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4dd088014d1f15da217c960e8a9dbd6f">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Transform()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a09cd3459f52f9071db33c1ac7a5161de">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Vector3()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#a96b9daae53786acb4f52e09e8fb7bc8a">mrs_lib::Vector3Converter</a>
+</li>
+<li>operator tf::Quaternion()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a7b6d71e47ec12e76f25823ad408c704c">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator+=()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator-=()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator=()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+, <a class="el" href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">mrs_lib::MedianFilter</a>
+, <a class="el" href="classmrs__lib_1_1Profiler.html#ae054cd2655538ee7b4a0dec35aa0cf16">mrs_lib::Profiler</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">mrs_lib::Transformer</a>
+</li>
+<li>orientation()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">mrs_lib::geometry::Cylinder</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">mrs_lib::geometry::Ellipse</a>
+</li>
+<li>origin()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">mrs_lib::geometry::Cone</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_p.html b/functions_func_p.html
new file mode 100644
index 00000000..dda166b7
--- /dev/null
+++ b/functions_func_p.html
@@ -0,0 +1,157 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_p.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>p1()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">mrs_lib::geometry::Ray</a>
+</li>
+<li>p2()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">mrs_lib::geometry::Ray</a>
+</li>
+<li>ParamLoader()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">mrs_lib::ParamLoader</a>
+</li>
+<li>ParamProvider()
+: <a class="el" href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">mrs_lib::ParamProvider</a>
+</li>
+<li>pdist()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>peekMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>pinterp()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>pinterpUnwrapped()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>pitch()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">mrs_lib::EulerAttitude</a>
+</li>
+<li>predict()
+: <a class="el" href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>predictTo()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>Profiler()
+: <a class="el" href="classmrs__lib_1_1Profiler.html#aeb0acb43639e4e29572b1ecbedf6029e">mrs_lib::Profiler</a>
+</li>
+<li>projectPoint()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279">mrs_lib::geometry::Cone</a>
+</li>
+<li>publish()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b">mrs_lib::BatchVisualizer</a>
+, <a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">mrs_lib::DynamicPublisher</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a3201fd4703f7e9cec24de7bc189356a5">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>PublisherHandler()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a08abb836db076c390101880ff34b8fe8">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+</li>
+<li>PublisherHandler_impl()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_r.html b/functions_func_r.html
new file mode 100644
index 00000000..4b393195
--- /dev/null
+++ b/functions_func_r.html
@@ -0,0 +1,136 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_r.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>r()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>Ray()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">mrs_lib::geometry::Ray</a>
+</li>
+<li>Rectangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#af119a484beb0dbae7dd0a9a2d5f5123d">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>Repredictor()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>RepredictorAloamgarm()
+: <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+</li>
+<li>resolveFrame()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">mrs_lib::Transformer</a>
+</li>
+<li>retryLookupNewest()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">mrs_lib::Transformer</a>
+</li>
+<li>RHEIV()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>roll()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">mrs_lib::EulerAttitude</a>
+</li>
+<li>ROSTimer()
+: <a class="el" href="classmrs__lib_1_1ROSTimer.html#aaf683893d28eca7f91e4b2333cf4eed5">mrs_lib::ROSTimer</a>
+</li>
+<li>running()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">mrs_lib::ThreadTimer</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_s.html b/functions_func_s.html
new file mode 100644
index 00000000..c57f0a68
--- /dev/null
+++ b/functions_func_s.html
@@ -0,0 +1,196 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_s.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>ScopeTimer()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">mrs_lib::ScopeTimer</a>
+</li>
+<li>ScopeTimerLogger()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>sendTransform()
+: <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">mrs_lib::TransformBroadcaster</a>
+</li>
+<li>ServiceClientHandler()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#acf286dd2720d41fa05e98c7327d94413">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+</li>
+<li>ServiceClientHandler_impl()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>setBufferLength()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">mrs_lib::MedianFilter</a>
+</li>
+<li>setConstants()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>setDefaultFrame()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a16a54cd35b1f071a80197cbccccfe9c0">mrs_lib::Transformer</a>
+</li>
+<li>setDefaultPrefix()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a5d6f4288d53f09474c92bda26d0c9f55">mrs_lib::Transformer</a>
+</li>
+<li>setHeading()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024">mrs_lib::AttitudeConverter</a>
+</li>
+<li>setLatLon()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">mrs_lib::Transformer</a>
+</li>
+<li>setLinesScale()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">mrs_lib::BatchVisualizer</a>
+</li>
+<li>setLookupTimeout()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">mrs_lib::Transformer</a>
+</li>
+<li>setMaxDifference()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">mrs_lib::MedianFilter</a>
+</li>
+<li>setMaxValue()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">mrs_lib::MedianFilter</a>
+</li>
+<li>setMinValue()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">mrs_lib::MedianFilter</a>
+</li>
+<li>setObservationModel()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>setParentFrame()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">mrs_lib::BatchVisualizer</a>
+</li>
+<li>setPeriod()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">mrs_lib::ThreadTimer</a>
+</li>
+<li>setPointsScale()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">mrs_lib::BatchVisualizer</a>
+</li>
+<li>setPrefix()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">mrs_lib::ParamLoader</a>
+</li>
+<li>setTransitionModel()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>setYaw()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505">mrs_lib::AttitudeConverter</a>
+</li>
+<li>shouldLog()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>solidAngleRelativeTo()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>start()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#afd70b40e8e4b84b48215eeafc5e27520">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">mrs_lib::ThreadTimer</a>
+</li>
+<li>stop()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">mrs_lib::ThreadTimer</a>
+</li>
+<li>subscribedTopicName()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a2ee619f8b6fe5ce56599752e63161b51">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>SubscribeHandler()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a27ac792b1dfa8a62d087b565bec33925">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_t.html b/functions_func_t.html
new file mode 100644
index 00000000..70911bca
--- /dev/null
+++ b/functions_func_t.html
@@ -0,0 +1,140 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_t.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>theta()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">mrs_lib::geometry::Cone</a>
+</li>
+<li>ThreadTimer()
+: <a class="el" href="classmrs__lib_1_1ThreadTimer.html#ac2e365201eccac6aae67400e4da4438f">mrs_lib::ThreadTimer</a>
+</li>
+<li>TimeoutManager()
+: <a class="el" href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">mrs_lib::TimeoutManager</a>
+</li>
+<li>topicName()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>transform()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a6509524feeb70fe794964b7462f28409">mrs_lib::Transformer</a>
+</li>
+<li>transformAsPoint()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#ae56ae48888d4fcaf21c912ed491b35d1">mrs_lib::Transformer</a>
+</li>
+<li>transformAsVector()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">mrs_lib::Transformer</a>
+</li>
+<li>TransformBroadcaster()
+: <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#ab8760c98f2d7111cc029f45b11e24bb9">mrs_lib::TransformBroadcaster</a>
+</li>
+<li>Transformer()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a561b0c5342c38dea6071ab400b8eaae4">mrs_lib::Transformer</a>
+</li>
+<li>transformSingle()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a2c45ff29ac5f482ba9b9c2537d82b8fb">mrs_lib::Transformer</a>
+</li>
+<li>Triangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a14203384b0eb6d3a7ff01330ab24f679">mrs_lib::geometry::Triangle</a>
+</li>
+<li>triangles()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>twopointCast()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">mrs_lib::geometry::Ray</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="doc-content">
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+<!-- iframe showing the search results (closed by default) -->
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+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>UKF()
+: <a class="el" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>unwrap()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>usedMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+</html>
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new file mode 100644
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+&#160;
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+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>value()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>varstepLKF()
+: <a class="el" href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>Vector3Converter()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#abf2c3e688787834522c8a99c374f656e">mrs_lib::Vector3Converter</a>
+</li>
+<li>vertices()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2">mrs_lib::geometry::Cuboid</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487">mrs_lib::geometry::Triangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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+</html>
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+</table>
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+<li>what()
+: <a class="el" href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">mrs_lib::eigenvector_exception</a>
+, <a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#a1f02bea6207ec02864a693067bcd499f">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception</a>
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+</li>
+<li>wrap()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
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+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<h3><a id="index_y"></a>- y -</h3><ul>
+<li>yaw()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">mrs_lib::EulerAttitude</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_func_~.html b/functions_func_~.html
new file mode 100644
index 00000000..bd6082f8
--- /dev/null
+++ b/functions_func_~.html
@@ -0,0 +1,149 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_func_~.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~AtomicScopeFlag()
+: <a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">mrs_lib::AtomicScopeFlag</a>
+</li>
+<li>~BatchVisualizer()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459">mrs_lib::BatchVisualizer</a>
+</li>
+<li>~Cone()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586">mrs_lib::geometry::Cone</a>
+</li>
+<li>~Cuboid()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a5a78508d282bd8d273d97f3055ae0357">mrs_lib::geometry::Cuboid</a>
+</li>
+<li>~Cylinder()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9a558196740fd2be133a3c2df7173f4f">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>~Ellipse()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650">mrs_lib::geometry::Ellipse</a>
+</li>
+<li>~PublisherHandler()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+</li>
+<li>~PublisherHandler_impl()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>~Ray()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a">mrs_lib::geometry::Ray</a>
+</li>
+<li>~Rectangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a66d9286f92d6f8ea5c7ebc7400cb29be">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>~ScopeTimer()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102">mrs_lib::ScopeTimer</a>
+</li>
+<li>~ScopeTimerLogger()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a0152ea8087d16a05027e66c44d99662e">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>~ServiceClientHandler()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#ad796fc7f9044bdeeacdf549faa1d2f48">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+</li>
+<li>~ServiceClientHandler_impl()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>~ThreadTimer()
+: <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">mrs_lib::ThreadTimer</a>
+</li>
+<li>~Triangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad5cc0e9eb09f9f4900f94fa1908b60f3">mrs_lib::geometry::Triangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_g.html b/functions_g.html
new file mode 100644
index 00000000..280c139f
--- /dev/null
+++ b/functions_g.html
@@ -0,0 +1,169 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_g.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>get_ALS_estimate()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>get_last_estimate()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>getCap()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>getExtrinsicRPY()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a0a9b9b0d146b4ccdc50c9a9037aec346">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getHeading()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getHeadingRate()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab3ac6086b34f743ac5e78249640eeddd">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getIntrinsicRPY()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abe03466ce1c2aefb74d402a3f1433693">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getLifetime()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">mrs_lib::ScopeTimer</a>
+</li>
+<li>getLogFilepath()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>getMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>getNumSubscribers()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>getParam()
+: <a class="el" href="classmrs__lib_1_1ParamProvider.html#aa3106f4d258195b890e8583d485c7547">mrs_lib::ParamProvider</a>
+</li>
+<li>getPitch()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a599afad1265aaa6fd32d518e4de7817f">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getPrefix()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">mrs_lib::ParamLoader</a>
+</li>
+<li>getRectangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb">mrs_lib::geometry::Cuboid</a>
+</li>
+<li>getRoll()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a82b32b4b7ff4de5bcf78b168f0c3c569">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getTransform()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a3a29dfb385f1b9c4deee695181880995">mrs_lib::Transformer</a>
+</li>
+<li>getVectorX()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a131f7ba8484bd0c7465594625d19ae89">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getVectorY()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a901ca23ee140e6d42027b242f0dfac8b">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getVectorZ()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4853f4582b8af4f224726d15a18e9fbc">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getYaw()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">mrs_lib::AttitudeConverter</a>
+</li>
+<li>getYawRateIntrinsic()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#afa7a3ddc0e143fe90bd966a6ba9f2913">mrs_lib::AttitudeConverter</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_h.html b/functions_h.html
new file mode 100644
index 00000000..9dabf2c1
--- /dev/null
+++ b/functions_h.html
@@ -0,0 +1,124 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_h.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>h()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">mrs_lib::geometry::Cone</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>H
+: <a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>H_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a12079d59b1f0e949c535e478d8e1d88c">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>half_range
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>hasMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>Hq_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_i.html b/functions_i.html
new file mode 100644
index 00000000..2ce303f1
--- /dev/null
+++ b/functions_i.html
@@ -0,0 +1,130 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_i.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>indices_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>initialize()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+</li>
+<li>initialized()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">mrs_lib::MedianFilter</a>
+</li>
+<li>inRange()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>interp()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>interpUnwrapped()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>intersectionRay()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#adfde2a501c9806bd6e6e99dcf0cac6ff">mrs_lib::geometry::Cuboid</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">mrs_lib::geometry::Triangle</a>
+</li>
+<li>inverse()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a17440196c1c894e265f77b0b9112336a">mrs_lib::Transformer</a>
+</li>
+<li>isFacing()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a62a1b7d39bd141d4c38d8079d43ffe02">mrs_lib::geometry::Rectangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_j.html b/functions_j.html
new file mode 100644
index 00000000..9783253e
--- /dev/null
+++ b/functions_j.html
@@ -0,0 +1,104 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_j.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_j"></a>- j -</h3><ul>
+<li>JLKF()
+: <a class="el" href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_k.html b/functions_k.html
new file mode 100644
index 00000000..77d2c09b
--- /dev/null
+++ b/functions_k.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_k.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>k
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>K_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a87d3b7863fbd0b392f9c831fcaf8e345">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>Kq_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_l.html b/functions_l.html
new file mode 100644
index 00000000..bd05ed78
--- /dev/null
+++ b/functions_l.html
@@ -0,0 +1,152 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_l.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>l
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>lastMsgTime()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>LKF()
+: <a class="el" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>loadedSuccessfully()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixArray()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixArray2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixDynamic()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixDynamic2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixStatic()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#aafc3bb716f3728d5a1b1cfc45b0d3ddf">mrs_lib::ParamLoader</a>
+</li>
+<li>loadMatrixStatic2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a2a78e5b64d8681a46976a6e9d0486b1a">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParam()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a6ee4d78d716c92045a38c40d6ae41c4d">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParam2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParamReusable()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">mrs_lib::ParamLoader</a>
+</li>
+<li>loadParamReusable2()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">mrs_lib::ParamLoader</a>
+</li>
+<li>log()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>loggingEnabled()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>lr
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_m.html b/functions_m.html
new file mode 100644
index 00000000..d58abde2
--- /dev/null
+++ b/functions_m.html
@@ -0,0 +1,129 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_m.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>m
+: <a class="el" href="classmrs__lib_1_1DKF.html#a266b963fd1ed94246fc413ecfa510e54">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>median()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">mrs_lib::MedianFilter</a>
+</li>
+<li>MedianFilter()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#aa17291d605ef5364db2835745a2c669c">mrs_lib::MedianFilter</a>
+</li>
+<li>message_callback_t
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>message_type
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>minimum
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>ModelPtr
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_n.html b/functions_n.html
new file mode 100644
index 00000000..56db08fe
--- /dev/null
+++ b/functions_n.html
@@ -0,0 +1,135 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_n.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>n
+: <a class="el" href="classmrs__lib_1_1DKF.html#a1c8d43906017aca20230464f87c0a28c">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>NCLKF()
+: <a class="el" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>NCLKF_partial()
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>newMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>nh
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>no_message_timeout
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>node_name
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>normal()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6">mrs_lib::geometry::Triangle</a>
+</li>
+<li>nq
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a139afd8f356f87aa0faadea3e8878649">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_o.html b/functions_o.html
new file mode 100644
index 00000000..9b73c605
--- /dev/null
+++ b/functions_o.html
@@ -0,0 +1,167 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_o.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>observation_model_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>operator Eigen::AngleAxis&lt; T &gt;()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a10847ba4ce35fa86efbe5933ba488183">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator Eigen::Quaternion&lt; T &gt;()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a6db421976b5060c086f495f00edca314">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator Eigen::Vector3d()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#a69c3a9a8dbcff2876e40d28022c019e3">mrs_lib::Vector3Converter</a>
+</li>
+<li>operator EulerAttitude()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a03ef9a1c10a9963e650fa217f0f04707">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator geometry_msgs::Quaternion()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#abc1686c5d27246a937c661f313ca13d0">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator geometry_msgs::Vector3()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#a6f6edf59403aded9e3bffcd603cce5c0">mrs_lib::Vector3Converter</a>
+</li>
+<li>operator std::tuple&lt; double &amp;, double &amp;, double &amp; &gt;()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a8f7e3a434632e7546149d64b2ab2e191">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Matrix3x3()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a123b85369560e858a9d3aba19a49227a">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Quaternion()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a4dd088014d1f15da217c960e8a9dbd6f">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Transform()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a09cd3459f52f9071db33c1ac7a5161de">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator tf2::Vector3()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#a96b9daae53786acb4f52e09e8fb7bc8a">mrs_lib::Vector3Converter</a>
+</li>
+<li>operator tf::Quaternion()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a7b6d71e47ec12e76f25823ad408c704c">mrs_lib::AttitudeConverter</a>
+</li>
+<li>operator+
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator+=()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator-
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator-=()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator=()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+, <a class="el" href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">mrs_lib::MedianFilter</a>
+, <a class="el" href="classmrs__lib_1_1Profiler.html#ae054cd2655538ee7b4a0dec35aa0cf16">mrs_lib::Profiler</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">mrs_lib::Transformer</a>
+</li>
+<li>orientation()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">mrs_lib::geometry::Cylinder</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">mrs_lib::geometry::Ellipse</a>
+</li>
+<li>origin()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">mrs_lib::geometry::Cone</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_p.html b/functions_p.html
new file mode 100644
index 00000000..796d30bf
--- /dev/null
+++ b/functions_p.html
@@ -0,0 +1,194 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_p.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>p
+: <a class="el" href="classmrs__lib_1_1DKF.html#afffd4a1421cb0ca08f75cd10c7cc2c78">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>P
+: <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#aa2747c6fd07bc3a4d9b2c153e38c11ff">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+<li>p
+: <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>P
+: <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+<li>p
+: <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>p1()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">mrs_lib::geometry::Ray</a>
+</li>
+<li>p2()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">mrs_lib::geometry::Ray</a>
+</li>
+<li>P_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#aa351bed9f3bdac26c6ed2526a5b2ac01">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#aef875cb026a1a0d8df31a8fc3f02e63b">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>ParamLoader()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">mrs_lib::ParamLoader</a>
+</li>
+<li>ParamProvider()
+: <a class="el" href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">mrs_lib::ParamProvider</a>
+</li>
+<li>pdist()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>peekMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>pinterp()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>pinterpUnwrapped()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>pitch()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#abbed482a509d21505dfd1e608cd362fe">mrs_lib::EulerAttitude</a>
+</li>
+<li>predict()
+: <a class="el" href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a7c8e64828a78d1a680d1ef467633d9d5">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>predictTo()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>Profiler()
+: <a class="el" href="classmrs__lib_1_1Profiler.html#ac384b6aa30ce0f43ee8d38eaad93ca28">mrs_lib::Profiler</a>
+</li>
+<li>projectPoint()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279">mrs_lib::geometry::Cone</a>
+</li>
+<li>Ps_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>publish()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a3b7e6b602bdaf7d42e1c48ea511aa93b">mrs_lib::BatchVisualizer</a>
+, <a class="el" href="classmrs__lib_1_1DynamicPublisher.html#a57946b630bcf2892658f754ecb6b735d">mrs_lib::DynamicPublisher</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler.html#ace9906a5cf9ae33115fc44af0e078f3f">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>PublisherHandler()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a334376e25e8fb011ca27736cd2cf12b7">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+</li>
+<li>PublisherHandler_impl()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>Pzz_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_q.html b/functions_q.html
new file mode 100644
index 00000000..7a558762
--- /dev/null
+++ b/functions_q.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_q.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_q"></a>- q -</h3><ul>
+<li>Q_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a59afcc2127ecd2a9dba8a53ca505f97a">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2ba0fce7ba12825a0c498f7676848fce">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>queue_size
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_r.html b/functions_r.html
new file mode 100644
index 00000000..aa5b3bd9
--- /dev/null
+++ b/functions_r.html
@@ -0,0 +1,150 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_r.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>r()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>R_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a6c1a5e6a6cdcb52271774b566957f948">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a7754b24176416b24869450c88a1328aa">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>range
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>Ray()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">mrs_lib::geometry::Ray</a>
+</li>
+<li>Rectangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a707a6df742b90d626e5321a4324d75fd">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>Repredictor()
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+</li>
+<li>RepredictorAloamgarm()
+: <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+</li>
+<li>resolveFrame()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">mrs_lib::Transformer</a>
+</li>
+<li>retryLookupNewest()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">mrs_lib::Transformer</a>
+</li>
+<li>RHEIV()
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>roll()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#a7d62c8be0341555c3e03e124a617d765">mrs_lib::EulerAttitude</a>
+</li>
+<li>ROSTimer()
+: <a class="el" href="classmrs__lib_1_1ROSTimer.html#ad4913fe0402a8be9b131ad5afb9d7d05">mrs_lib::ROSTimer</a>
+</li>
+<li>running()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">mrs_lib::ThreadTimer</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_rela.html b/functions_rela.html
new file mode 100644
index 00000000..aea4cf2b
--- /dev/null
+++ b/functions_rela.html
@@ -0,0 +1,105 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Related Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_rela.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>operator+
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>operator-
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_s.html b/functions_s.html
new file mode 100644
index 00000000..2da9f9dc
--- /dev/null
+++ b/functions_s.html
@@ -0,0 +1,211 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_s.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>ScopeTimer()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">mrs_lib::ScopeTimer</a>
+</li>
+<li>ScopeTimerLogger()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>sendTransform()
+: <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">mrs_lib::TransformBroadcaster</a>
+</li>
+<li>ServiceClientHandler()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#acf286dd2720d41fa05e98c7327d94413">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+</li>
+<li>ServiceClientHandler_impl()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>setBufferLength()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">mrs_lib::MedianFilter</a>
+</li>
+<li>setConstants()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>setDefaultFrame()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a16a54cd35b1f071a80197cbccccfe9c0">mrs_lib::Transformer</a>
+</li>
+<li>setDefaultPrefix()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a5d6f4288d53f09474c92bda26d0c9f55">mrs_lib::Transformer</a>
+</li>
+<li>setHeading()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#ac818b4e515d614d5d473be95b5ee9024">mrs_lib::AttitudeConverter</a>
+</li>
+<li>setLatLon()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">mrs_lib::Transformer</a>
+</li>
+<li>setLinesScale()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#af36566a7f7267a2cdb167a533e4cb856">mrs_lib::BatchVisualizer</a>
+</li>
+<li>setLookupTimeout()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">mrs_lib::Transformer</a>
+</li>
+<li>setMaxDifference()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">mrs_lib::MedianFilter</a>
+</li>
+<li>setMaxValue()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">mrs_lib::MedianFilter</a>
+</li>
+<li>setMinValue()
+: <a class="el" href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">mrs_lib::MedianFilter</a>
+</li>
+<li>setObservationModel()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>setParentFrame()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a284c94fdfec8f359704d92f9ef79cd74">mrs_lib::BatchVisualizer</a>
+</li>
+<li>setPeriod()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">mrs_lib::ThreadTimer</a>
+</li>
+<li>setPointsScale()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#ac613c22b8ed79cd169636e6aafacf2dc">mrs_lib::BatchVisualizer</a>
+</li>
+<li>setPrefix()
+: <a class="el" href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">mrs_lib::ParamLoader</a>
+</li>
+<li>setTransitionModel()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>setYaw()
+: <a class="el" href="classmrs__lib_1_1AttitudeConverter.html#a945e6c80d148df27897391bfd69c0505">mrs_lib::AttitudeConverter</a>
+</li>
+<li>shouldLog()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>solidAngleRelativeTo()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>stamp
+: <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#ab576efb895b5def90a7aab738c610f83">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+<li>start()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#afd70b40e8e4b84b48215eeafc5e27520">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">mrs_lib::ThreadTimer</a>
+</li>
+<li>statecov_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2bc4e99acb7f38dc41d6e63cdce5e805">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>stop()
+: <a class="el" href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">mrs_lib::MRSTimer</a>
+, <a class="el" href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">mrs_lib::ROSTimer</a>
+, <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+, <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">mrs_lib::ThreadTimer</a>
+</li>
+<li>subscribedTopicName()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a2ee619f8b6fe5ce56599752e63161b51">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>SubscribeHandler()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aaceb7739b06d44d7fe619418d5cecd4e">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>supremum
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_t.html b/functions_t.html
new file mode 100644
index 00000000..c680c72f
--- /dev/null
+++ b/functions_t.html
@@ -0,0 +1,164 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_t.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>theta()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">mrs_lib::geometry::Cone</a>
+</li>
+<li>theta_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>threadsafe
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>ThreadTimer()
+: <a class="el" href="classmrs__lib_1_1ThreadTimer.html#ac2e365201eccac6aae67400e4da4438f">mrs_lib::ThreadTimer</a>
+</li>
+<li>timeout_callback
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>timeout_callback_t
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>timeout_manager
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>TimeoutManager()
+: <a class="el" href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">mrs_lib::TimeoutManager</a>
+</li>
+<li>topic_name
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>topicName()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>transform()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">mrs_lib::Transformer</a>
+</li>
+<li>transformAsPoint()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#ab1533c559b6c94b406322bfbfc700ef7">mrs_lib::Transformer</a>
+</li>
+<li>transformAsVector()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">mrs_lib::Transformer</a>
+</li>
+<li>TransformBroadcaster()
+: <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#ab8760c98f2d7111cc029f45b11e24bb9">mrs_lib::TransformBroadcaster</a>
+</li>
+<li>Transformer()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">mrs_lib::Transformer</a>
+</li>
+<li>transformSingle()
+: <a class="el" href="classmrs__lib_1_1Transformer.html#a4d01ec1804bb492694d328704dada907">mrs_lib::Transformer</a>
+</li>
+<li>transition_model_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>transport_hints
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>Triangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#a14203384b0eb6d3a7ff01330ab24f679">mrs_lib::geometry::Triangle</a>
+</li>
+<li>triangles()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>twopointCast()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">mrs_lib::geometry::Ray</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_type.html b/functions_type.html
new file mode 100644
index 00000000..84f3b94c
--- /dev/null
+++ b/functions_type.html
@@ -0,0 +1,368 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Typedefs</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_type.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>A_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a1d615e5b5aef4c5a00de9b42eef43c1b">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#aa7b38a32abe6a319930d6392178d5e3e">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>B_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a5de2bdb0aa87e268361e19206849bb22">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>Base_class
+: <a class="el" href="classmrs__lib_1_1DKF.html#ad7e6756be6a89592151d092f20d19811">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#ae54a2cc807bafeee1777ffdbd37e3c02">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#aa670be9fba29c7d8d8c7c849d9d844d1">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a13dac50b4906535f6ff5837b1057597f">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ae5a0eb2f31131ed4cec117d4a1000080">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>C_t
+: <a class="el" href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>D_t
+: <a class="el" href="classmrs__lib_1_1JLKF.html#ac047c1625da963988acfc47edc200a57">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+</li>
+<li>dzdx_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>dzdxs_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>eta_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>f_dzdx_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>f_z_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>H_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#aaee9d5c96d921fa7854f24460edf58ab">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a12079d59b1f0e949c535e478d8e1d88c">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>Hq_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>indices_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>K_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a87d3b7863fbd0b392f9c831fcaf8e345">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>Kq_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>message_callback_t
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>message_type
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>ModelPtr
+: <a class="el" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_o"></a>- o -</h3><ul>
+<li>observation_model_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>P_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#aa351bed9f3bdac26c6ed2526a5b2ac01">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#aef875cb026a1a0d8df31a8fc3f02e63b">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>Ps_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>Pzz_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_q"></a>- q -</h3><ul>
+<li>Q_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a59afcc2127ecd2a9dba8a53ca505f97a">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2ba0fce7ba12825a0c498f7676848fce">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>R_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a6c1a5e6a6cdcb52271774b566957f948">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a7754b24176416b24869450c88a1328aa">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>statecov_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a1408b975fe2e4bd3fc5009c80d43f06b">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2bc4e99acb7f38dc41d6e63cdce5e805">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>theta_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>timeout_callback_t
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>transition_model_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>u_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a5998af081256d469dbd4ac5a1d4d7fd7">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>W_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_x"></a>- x -</h3><ul>
+<li>x_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a094cf9bcb768de6db47e4c2703bede20">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#afaae66f623e768b19c0160fb21be9373">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>X_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>xq_t
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+<li>xs_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_z"></a>- z -</h3><ul>
+<li>z_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#ad919f1d7a6f5d8be7361a8336aa6fd85">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a80db36613d09068f8daa0dc7e735dc64">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#ad5308432a3010edabc4598a92786fad5">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#a3e265f15f9b8b031af819d1d2045909b">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>Z_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>zs_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_u.html b/functions_u.html
new file mode 100644
index 00000000..cfbb7ea8
--- /dev/null
+++ b/functions_u.html
@@ -0,0 +1,122 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_u.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>u_t
+: <a class="el" href="classmrs__lib_1_1DKF.html#a5998af081256d469dbd4ac5a1d4d7fd7">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a>
+, <a class="el" href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>UKF()
+: <a class="el" href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>unwrap()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>usedMsg()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_v.html b/functions_v.html
new file mode 100644
index 00000000..c56eb03d
--- /dev/null
+++ b/functions_v.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_v.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>value()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+<li>varstepLKF()
+: <a class="el" href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>Vector3Converter()
+: <a class="el" href="classmrs__lib_1_1Vector3Converter.html#abf2c3e688787834522c8a99c374f656e">mrs_lib::Vector3Converter</a>
+</li>
+<li>vertices()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2">mrs_lib::geometry::Cuboid</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b">mrs_lib::geometry::Rectangle</a>
+, <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487">mrs_lib::geometry::Triangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_vars.html b/functions_vars.html
new file mode 100644
index 00000000..d1bb7f3e
--- /dev/null
+++ b/functions_vars.html
@@ -0,0 +1,263 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_vars.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>A
+: <a class="el" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>autostart
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aab7865b63b3dd44b61dba06c54f981c8">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+</ul>
+
+
+<h3><a id="index_b"></a>- b -</h3><ul>
+<li>B
+: <a class="el" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>H
+: <a class="el" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>half_range
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>k
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>l
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+<li>lr
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>m
+: <a class="el" href="classmrs__lib_1_1DKF.html#a266b963fd1ed94246fc413ecfa510e54">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#ab2132e00d769c35bf4c89760b1f7da2f">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>minimum
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>n
+: <a class="el" href="classmrs__lib_1_1DKF.html#a1c8d43906017aca20230464f87c0a28c">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>nh
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>no_message_timeout
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>node_name
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>nq
+: <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a139afd8f356f87aa0faadea3e8878649">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>p
+: <a class="el" href="classmrs__lib_1_1DKF.html#afffd4a1421cb0ca08f75cd10c7cc2c78">mrs_lib::DKF</a>
+, <a class="el" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>P
+: <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#aa2747c6fd07bc3a4d9b2c153e38c11ff">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+<li>p
+: <a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>P
+: <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+<li>p
+: <a class="el" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+, <a class="el" href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a>
+, <a class="el" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_q"></a>- q -</h3><ul>
+<li>queue_size
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>range
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>stamp
+: <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#ab576efb895b5def90a7aab738c610f83">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+<li>supremum
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>threadsafe
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>timeout_callback
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>timeout_manager
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>topic_name
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+<li>transport_hints
+: <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">mrs_lib::SubscribeHandlerOptions</a>
+</li>
+</ul>
+
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>w
+: <a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+</ul>
+
+
+<h3><a id="index_x"></a>- x -</h3><ul>
+<li>x
+: <a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#a725b61d95901486bbc17cf79e45bd5e4">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+, <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/functions_w.html b/functions_w.html
new file mode 100644
index 00000000..41cd219f
--- /dev/null
+++ b/functions_w.html
@@ -0,0 +1,118 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_w.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_w"></a>- w -</h3><ul>
+<li>w
+: <a class="el" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>W_t
+: <a class="el" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a>
+</li>
+<li>waitForNew()
+: <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a>
+</li>
+<li>what()
+: <a class="el" href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">mrs_lib::eigenvector_exception</a>
+, <a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#a1f02bea6207ec02864a693067bcd499f">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception</a>
+, <a class="el" href="structmrs__lib_1_1LKF_1_1inverse__exception.html#a44d325f6cd975003b995d33bd78948ac">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</a>
+</li>
+<li>wrap()
+: <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+
+<div class="contents">
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+
+<h3><a id="index_x"></a>- x -</h3><ul>
+<li>x
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+</li>
+<li>xq_t
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+</li>
+<li>xs_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('functions_y.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
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+<!-- iframe showing the search results (closed by default) -->
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+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_y"></a>- y -</h3><ul>
+<li>yaw()
+: <a class="el" href="classmrs__lib_1_1EulerAttitude.html#ab29c3b0fb567107c23eff485e8f2578d">mrs_lib::EulerAttitude</a>
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+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<li>zs_t
+: <a class="el" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+/* @license-end */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index__7E"></a>- ~ -</h3><ul>
+<li>~AtomicScopeFlag()
+: <a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">mrs_lib::AtomicScopeFlag</a>
+</li>
+<li>~BatchVisualizer()
+: <a class="el" href="classmrs__lib_1_1BatchVisualizer.html#a83a3baa46f7a3c22079a1d80aaed4459">mrs_lib::BatchVisualizer</a>
+</li>
+<li>~Cone()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586">mrs_lib::geometry::Cone</a>
+</li>
+<li>~Cuboid()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html#a5a78508d282bd8d273d97f3055ae0357">mrs_lib::geometry::Cuboid</a>
+</li>
+<li>~Cylinder()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9a558196740fd2be133a3c2df7173f4f">mrs_lib::geometry::Cylinder</a>
+</li>
+<li>~Ellipse()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650">mrs_lib::geometry::Ellipse</a>
+</li>
+<li>~PublisherHandler()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">mrs_lib::PublisherHandler&lt; TopicType &gt;</a>
+</li>
+<li>~PublisherHandler_impl()
+: <a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a>
+</li>
+<li>~Ray()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a">mrs_lib::geometry::Ray</a>
+</li>
+<li>~Rectangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a66d9286f92d6f8ea5c7ebc7400cb29be">mrs_lib::geometry::Rectangle</a>
+</li>
+<li>~ScopeTimer()
+: <a class="el" href="classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102">mrs_lib::ScopeTimer</a>
+</li>
+<li>~ScopeTimerLogger()
+: <a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html#a0152ea8087d16a05027e66c44d99662e">mrs_lib::ScopeTimerLogger</a>
+</li>
+<li>~ServiceClientHandler()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler.html#ad796fc7f9044bdeeacdf549faa1d2f48">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a>
+</li>
+<li>~ServiceClientHandler_impl()
+: <a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a>
+</li>
+<li>~ThreadTimer()
+: <a class="el" href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">mrs_lib::ThreadTimer</a>
+</li>
+<li>~Triangle()
+: <a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html#ad5cc0e9eb09f9f4900f94fa1908b60f3">mrs_lib::geometry::Triangle</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/geometry_2cyclic_example_8cpp-example.html b/geometry_2cyclic_example_8cpp-example.html
new file mode 100644
index 00000000..124b2e62
--- /dev/null
+++ b/geometry_2cyclic_example_8cpp-example.html
@@ -0,0 +1,324 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">geometry/cyclic_example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> cyclic_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="cyclic_8h.html">mrs_lib/geometry/cyclic.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Define the cyclic quantity we will be using (just a float redefinition of degrees)</span></div>
+<div class="line"><span class="keyword">struct </span><a name="_a0"></a><a class="code" href="structdegrees.html">degrees</a> : <span class="keyword">public</span> <a name="_a1"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt;float, degrees&gt;</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">using</span> <a name="a2"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic&lt;float, degrees&gt;::cyclic</a>;  <span class="comment">// necessary to inherit constructors</span></div>
+<div class="line">  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> minimum = -180;</div>
+<div class="line">  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> supremum = 180;</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// A few helpful aliases to make writing of types shorter</span></div>
+<div class="line"><span class="keyword">using</span> <a name="_a3"></a><a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> = <a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a>;</div>
+<div class="line"><span class="keyword">using</span> <a name="_a4"></a><a class="code" href="structmrs__lib_1_1geometry_1_1sradians.html">sradians</a> = <a class="code" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a>;</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* helper printing functions //{ */</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><span class="keywordtype">void</span> printit(<span class="keyword">const</span> T&amp; a, <span class="keyword">const</span> std::string&amp; name)</div>
+<div class="line">{</div>
+<div class="line">  std::cout &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span> &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; a.value() &lt;&lt; <span class="stringliteral">&quot;\tin [ &quot;</span> &lt;&lt; a.minimum &lt;&lt; <span class="stringliteral">&quot;,\t&quot;</span> &lt;&lt; a.supremum &lt;&lt; <span class="stringliteral">&quot;\t[&quot;</span></div>
+<div class="line">            &lt;&lt; std::endl;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><span class="keywordtype">void</span> printcont(<span class="keyword">const</span> T&amp; cont, <span class="keyword">const</span> std::string&amp; name)</div>
+<div class="line">{</div>
+<div class="line">  std::cout &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span>;</div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; el : cont)</div>
+<div class="line">    std::cout &lt;&lt; el &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span>;</div>
+<div class="line">  std::cout &lt;&lt; std::endl;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main()</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">// | ---------- Basic initialization and conversions ---------- |</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* initialization, assignment, conversion //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> a(721.0f);                                  <span class="comment">// constructor (equal to 1 degree)</span></div>
+<div class="line">  <a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> b(-M_PI_2);                                 <span class="comment">// constructor (equal to -45 degrees)</span></div>
+<div class="line">  <a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> c(b);                                       <span class="comment">// copy constructor</span></div>
+<div class="line">  <a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> d = 65;                                     <span class="comment">// assignment operator using primitive types will automatically wrap the value to the valid interval</span></div>
+<div class="line">  <a class="code" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> e = b;                                      <span class="comment">// assignment operator (radians class)</span></div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> f = b.<a name="a5"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>&lt;<a class="code" href="structdegrees.html">degrees</a>&gt;();                   <span class="comment">// conversion from radians to degrees</span></div>
+<div class="line">  <a class="code" href="structmrs__lib_1_1geometry_1_1sradians.html">sradians</a> g = b.<a name="a6"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>&lt;<a class="code" href="structmrs__lib_1_1geometry_1_1sradians.html">sradians</a>&gt;();                 <span class="comment">// conversion from radians to signed radians</span></div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> h = radians::convert&lt;degrees&gt;(5 * M_PI_2);  <span class="comment">// static conversion from radians to degrees</span></div>
+<div class="line"> </div>
+<div class="line">  printit(a, <span class="stringliteral">&quot;a&quot;</span>);</div>
+<div class="line">  printit(b, <span class="stringliteral">&quot;b&quot;</span>);</div>
+<div class="line">  printit(c, <span class="stringliteral">&quot;c&quot;</span>);</div>
+<div class="line">  printit(d, <span class="stringliteral">&quot;d&quot;</span>);</div>
+<div class="line">  printit(e, <span class="stringliteral">&quot;e&quot;</span>);</div>
+<div class="line">  printit(f, <span class="stringliteral">&quot;f&quot;</span>);</div>
+<div class="line">  printit(g, <span class="stringliteral">&quot;g&quot;</span>);</div>
+<div class="line">  printit(h, <span class="stringliteral">&quot;h&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* wrong way of converting //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// this is a wrong way of converting radians to degrees - the argument will be interpreted as degrees (the compiler has no way o knowing whether you mean</span></div>
+<div class="line">  <span class="comment">// radians or degrees - it&#39;s all float to him)</span></div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> WRONG1 = <a class="code" href="structdegrees.html">degrees</a>(5 * M_PI_2);</div>
+<div class="line">  <span class="comment">// this is forbidden (and will not compile) - use the convert methods for conversions between different types of cyclic quantities</span></div>
+<div class="line">  <span class="comment">/* degrees WRONG2 = degrees(b); */</span></div>
+<div class="line"> </div>
+<div class="line">  printit(WRONG1, <span class="stringliteral">&quot;WRONG1&quot;</span>);</div>
+<div class="line">  <span class="comment">/* printit(WRONG2, &quot;WRONG2&quot;); */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* accessors //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// value of the cyclic quantity object can be accessed using a getter</span></div>
+<div class="line">  <span class="keywordtype">double</span> adouble = a.value();</div>
+<div class="line">  <span class="comment">// the minimum, supremum and range are a static property of the class and can be retrieved either from an object of from the class</span></div>
+<div class="line">  <span class="keywordtype">double</span> amin = a.minimum;</div>
+<div class="line">  <span class="keywordtype">double</span> asup = degrees::supremum;</div>
+<div class="line">  <span class="keywordtype">double</span> aran = <a name="a7"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">degrees::range</a>;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;adouble:&quot;</span> &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; adouble &lt;&lt; <span class="stringliteral">&quot;\tin [ &quot;</span> &lt;&lt; amin &lt;&lt; <span class="stringliteral">&quot;,\t&quot;</span> &lt;&lt; asup &lt;&lt; <span class="stringliteral">&quot;\t[\trange: &quot;</span> &lt;&lt; aran</div>
+<div class="line">            &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;----------------------------------------------------------------&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  <span class="comment">// | -------------------- Utility functions ------------------- |</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* wrapping //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// you can check whether a value is in the valid range of a type</span></div>
+<div class="line">  <span class="keywordtype">double</span> ang = 666;</div>
+<div class="line">  <span class="keywordflow">if</span> (!<a name="a8"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">degrees::inRange</a>(ang))</div>
+<div class="line">  {</div>
+<div class="line">    std::cout &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; ang &lt;&lt; <span class="stringliteral">&quot;\tis not within [ &quot;</span> &lt;&lt; degrees::minimum &lt;&lt; <span class="stringliteral">&quot;,\t&quot;</span> &lt;&lt; degrees::supremum &lt;&lt; <span class="stringliteral">&quot;\t[&quot;</span></div>
+<div class="line">              &lt;&lt; std::endl;</div>
+<div class="line">    <span class="comment">// and wrap it to the correct range if needed</span></div>
+<div class="line">    <span class="keywordtype">double</span> wang = <a name="a9"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">degrees::wrap</a>(ang);</div>
+<div class="line">    std::cout &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; ang &lt;&lt; <span class="stringliteral">&quot;\tafter wrapping: &quot;</span> &lt;&lt; wang &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* unwrapping //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// if you have a sequence of cyclic values and want to &quot;linearize&quot; it (eg. for a Kalman filter or smh, idk), you can use the unwrap function</span></div>
+<div class="line">  std::vector&lt;double&gt; data = {0, 61, 122, 183, 244, 305, 6, 67, 128, 189};</div>
+<div class="line">  printcont(data, <span class="stringliteral">&quot;data before unwrapping&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> it = 1; it &lt; data.size(); it++)</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> prev = data.at(it - 1);</div>
+<div class="line">    <span class="keyword">auto</span>&amp; cur = data.at(it);</div>
+<div class="line">    cur = <a name="a10"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">degrees::unwrap</a>(cur, prev);</div>
+<div class="line">  }</div>
+<div class="line">  printcont(data, <span class="stringliteral">&quot;data after unwrapping&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// and then you can wrap it to the corresponding interval! Go crazy!</span></div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; el : data)</div>
+<div class="line">    el = <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">degrees::wrap</a>(el);</div>
+<div class="line">  printcont(data, <span class="stringliteral">&quot;data after wrapping&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// AND UNWRAP IT AGAIN BECAUSE IT WORKS LIKE MAGIC!!!</span></div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> it = 1; it &lt; data.size(); it++)</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> prev = data.at(it - 1);</div>
+<div class="line">    <span class="keyword">auto</span>&amp; cur = data.at(it);</div>
+<div class="line">    cur = <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">degrees::unwrap</a>(cur, prev);</div>
+<div class="line">  }</div>
+<div class="line">  printcont(data, <span class="stringliteral">&quot;data after unwrapping&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;----------------------------------------------------------------&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  <span class="comment">// | ------------------- Distance functions ------------------- |</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* dist() //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// there are three distance-related functions provided, each with its own uses</span></div>
+<div class="line">  <span class="comment">// firstly, there is the dist() function, which simply returns the shortest distance from A to B in the cyclic sense</span></div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> A(+33.3);</div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> B(-33.3);</div>
+<div class="line">  std::cout &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; <span class="stringliteral">&quot;A:\t&quot;</span> &lt;&lt; A.value() &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;B:\t&quot;</span> &lt;&lt; B.value() &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;dist(A, B):\t&quot;</span> &lt;&lt; <a name="a11"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">degrees::dist</a>(A, B) &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;dist(B, A):\t&quot;</span> &lt;&lt; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">degrees::dist</a>(B, A) &lt;&lt; std::endl;</div>
+<div class="line">  <span class="comment">// notice, that dist() is commutative (perhaps unsurprisingly)</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* diff() //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// secondly, diff() returns the difference between B, subtracted from A</span></div>
+<div class="line">  <span class="comment">// this is the same as dist() except that it is signed (the sign depending on the order of the operands)</span></div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> C(+146.7);</div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> D(-146.7);</div>
+<div class="line">  std::cout &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; <span class="stringliteral">&quot;C:\t&quot;</span> &lt;&lt; C.value() &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;D:\t&quot;</span> &lt;&lt; D.value() &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;diff(C, D):\t&quot;</span> &lt;&lt; <a name="a12"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">degrees::diff</a>(C, D) &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;diff(D, C):\t&quot;</span> &lt;&lt; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">degrees::diff</a>(D, C) &lt;&lt; std::endl;</div>
+<div class="line">  <span class="comment">// naturally, uncomutatitve, and diff(C, D) = -diff(D, C) as you&#39;d expect from subtraction</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* pdist() //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// lastly, there is the pdist function, which returns distance from A to B in a positive direction</span></div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> E(+1);</div>
+<div class="line">  <a class="code" href="structdegrees.html">degrees</a> F(-1);</div>
+<div class="line">  std::cout &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; <span class="stringliteral">&quot;E:\t&quot;</span> &lt;&lt; E.value() &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;F:\t&quot;</span> &lt;&lt; F.value() &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;pdist(E, F):\t&quot;</span> &lt;&lt; <a name="a13"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">degrees::pdist</a>(E, F) &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;pdist(F, E):\t&quot;</span> &lt;&lt; <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">degrees::pdist</a>(F, E) &lt;&lt; std::endl;</div>
+<div class="line">  <span class="comment">// naturally, the result is always positive</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;----------------------------------------------------------------&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  <span class="comment">// | ----------------- Interpolation functions ---------------- |</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* interpolation //{ */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// it may happen that during your carrier as a human being, you might want to interpolate two angles</span></div>
+<div class="line">  <span class="comment">// worry not, I&#39;ve got your back!</span></div>
+<div class="line">  <span class="comment">// this is implemented by the interp() and interpUnwrapped() functions</span></div>
+<div class="line">  <span class="comment">// these differ only whether the result is wrapped to the valid interval of values or not (which might be sometimes useful and is sliiightly faster)</span></div>
+<div class="line">  <span class="comment">// BEHOLD:</span></div>
+<div class="line">  <span class="keywordtype">double</span> a1 = -359;</div>
+<div class="line">  <span class="keywordtype">double</span> a2 = -2;</div>
+<div class="line">  <span class="keywordtype">double</span> coeff = 1.0 / 3.0;</div>
+<div class="line">  std::cout &lt;&lt; std::left &lt;&lt; std::showpos &lt;&lt; std::setprecision(4) &lt;&lt; <span class="stringliteral">&quot;a1:\t&quot;</span> &lt;&lt; a1 &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;a2:\t&quot;</span> &lt;&lt; a2 &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;coeff:\t&quot;</span> &lt;&lt; coeff &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;interp(a1, a2, coeff):\t&quot;</span> &lt;&lt; <a name="a14"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">degrees::interp</a>(a1, a2, coeff) &lt;&lt; std::endl</div>
+<div class="line">            &lt;&lt; <span class="stringliteral">&quot;interpUnwrapped(a1, a2, coeff):\t&quot;</span> &lt;&lt; <a name="a15"></a><a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">degrees::interpUnwrapped</a>(a1, a2, coeff) &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="acyclic_8h_html"><div class="ttname"><a href="cyclic_8h.html">cyclic.h</a></div><div class="ttdoc">Defines the cyclic class for calculations with cyclic quantities.</div></div>
+<div class="ttc" id="astructdegrees_html"><div class="ttname"><a href="structdegrees.html">degrees</a></div><div class="ttdef"><b>Definition:</b> cyclic_example.cpp:22</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a51db20b50daabf98afae8bd77e3a3ac4"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::pdist</a></div><div class="ttdeci">static float pdist(const float from, const float to)</div><div class="ttdoc">Returns length of the shortest walk in the positive direction from the first parameter to the second ...</div><div class="ttdef"><b>Definition:</b> cyclic.h:171</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ab366578641265f73655d1edc023cc2c7"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::cyclic</a></div><div class="ttdeci">cyclic()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition:</b> cyclic.h:55</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a1c2837eea4d0635833a786d571922d76"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::interpUnwrapped</a></div><div class="ttdeci">static float interpUnwrapped(const float from, const float to, const float coeff)</div><div class="ttdoc">Interpolation between two circular quantities without wrapping of the result.</div><div class="ttdef"><b>Definition:</b> cyclic.h:242</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_aa5b1c6f8e1ab47b374f10a1a96de910b"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::diff</a></div><div class="ttdeci">static float diff(const float minuend, const float subtrahend)</div><div class="ttdoc">Returns the difference between the two circular values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:193</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a9eb4b1ce4c4307d6bed9642bbf52133e"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::dist</a></div><div class="ttdeci">static float dist(const float from, const float to)</div><div class="ttdoc">Returns the distance between the two circular values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:219</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a></div><div class="ttdoc">Implementation of the a general cyclic value (such as angles in radians/degrees etc).</div><div class="ttdef"><b>Definition:</b> cyclic.h:48</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1radians_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a></div><div class="ttdoc">Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$).</div><div class="ttdef"><b>Definition:</b> cyclic.h:489</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1sradians_html"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a></div><div class="ttdoc">Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$).</div><div class="ttdef"><b>Definition:</b> cyclic.h:499</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ae7ff9988f0d3ef6cf3bd724f3e29273b"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::inRange</a></div><div class="ttdeci">static bool inRange(const float val)</div><div class="ttdoc">Checks if val is within the valid interval of wrapped values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:100</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a21d98e561a2d296e1d64b38a74883902"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::unwrap</a></div><div class="ttdeci">static float unwrap(const float what, const float from)</div><div class="ttdoc">Returns value of the parameter what modified so that there is no &quot;jump&quot; between from and \t what.</div><div class="ttdef"><b>Definition:</b> cyclic.h:157</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_afe8344d8017f4ed883ecc28379465d99"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::interp</a></div><div class="ttdeci">static float interp(const float from, const float to, const float coeff)</div><div class="ttdoc">Interpolation between two circular quantities.</div><div class="ttdef"><b>Definition:</b> cyclic.h:264</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ada5b55bcb4a01898fd9fdd9c393efd95"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::wrap</a></div><div class="ttdeci">static float wrap(const float val)</div><div class="ttdoc">Returns val, converted to the valid interval of values.</div><div class="ttdef"><b>Definition:</b> cyclic.h:114</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a406dfc057fd17b5935add5a7bf9fe325"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">mrs_lib::geometry::cyclic&lt; float, degrees &gt;::range</a></div><div class="ttdeci">static constexpr float range</div><div class="ttdoc">Range of the valid interval of wrapped values  (also the period of the cyclic quantity).</div><div class="ttdef"><b>Definition:</b> cyclic.h:87</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a872202b166f48d3759cd58cc57242f5f"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">mrs_lib::geometry::cyclic::convert</a></div><div class="ttdeci">static other_t convert(const cyclic &amp;what)</div><div class="ttdoc">Conversion between two different circular quantities.</div><div class="ttdef"><b>Definition:</b> cyclic.h:334</div></div>
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">gps_conversions.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Universal Transverse Mercator transforms. Functions to convert (spherical) latitude and longitude to and from (Euclidean) UTM coordinates.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;cstdio&gt;</code><br />
+<code>#include &lt;cstdlib&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for gps_conversions.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="gps__conversions_8h__incl.png" border="0" usemap="#include_2mrs__lib_2gps__conversions_8h" alt=""/></div>
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+<p><a href="gps__conversions_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a1b0be1888d6415e50bccf1d97b67569a"><td class="memItemLeft" align="right" valign="top"><a id="a1b0be1888d6415e50bccf1d97b67569a"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::RADIANS_PER_DEGREE</b> = M_PI / 180.0</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::DEGREES_PER_RADIAN</b> = 180.0 / M_PI</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::WGS84_B</b> = 6356752.31424518</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::WGS84_F</b> = 0.0033528107</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::WGS84_E</b> = 0.0818191908</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::WGS84_EP</b> = 0.0820944379</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::UTM_K0</b> = 0.9996</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::UTM_FN_N</b> = 0.0</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::UTM_FN_S</b> = 10000000.0</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::UTM_E2</b> = (WGS84_E * WGS84_E)</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::UTM_E4</b> = (UTM_E2 * UTM_E2)</td></tr>
+<tr class="separator:a8699db73026f4d4bc2f9147815c92eec"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::UTM_E6</b> = (UTM_E4 * UTM_E2)</td></tr>
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+<tr class="separator:a062139851c2a315cee44dd8c57453e14"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Universal Transverse Mercator transforms. Functions to convert (spherical) latitude and longitude to and from (Euclidean) UTM coordinates. </p>
+<dl class="section author"><dt>Author</dt><dd>Chuck Gantz- <a href="#" onclick="location.href='mai'+'lto:'+'chu'+'ck'+'.ga'+'nt'+'z@g'+'lo'+'bal'+'st'+'ar.'+'co'+'m'; return false;">chuck<span style="display: none;">.nosp@m.</span>.gan<span style="display: none;">.nosp@m.</span>tz@gl<span style="display: none;">.nosp@m.</span>obal<span style="display: none;">.nosp@m.</span>star.<span style="display: none;">.nosp@m.</span>com</a> </dd></dl>
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+    [ "RADIANS_PER_DEGREE", "gps__conversions_8h.html#a1b0be1888d6415e50bccf1d97b67569a", null ],
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+    [ "WGS84_B", "gps__conversions_8h.html#a11399734244c9153d49d112430b60d25", null ],
+    [ "WGS84_E", "gps__conversions_8h.html#addc466a492d572ac9cb23fa2b2a12b4f", null ],
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<div class="title">gps_conversions.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="gps__conversions_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* Taken from utexas-art-ros-pkg:art_vehicle/applanix */</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Conversions between coordinate systems.</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Includes LatLong&lt;-&gt;UTM.</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef _UTM_H</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define _UTM_H</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;cstdio&gt;</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;cstdlib&gt;</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> RADIANS_PER_DEGREE = M_PI / 180.0;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> DEGREES_PER_RADIAN = 180.0 / M_PI;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="comment">// WGS84 Parameters</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> WGS84_A  = 6378137.0;         <span class="comment">// major axis</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> WGS84_B  = 6356752.31424518;  <span class="comment">// minor axis</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> WGS84_F  = 0.0033528107;      <span class="comment">// ellipsoid flattening</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> WGS84_E  = 0.0818191908;      <span class="comment">// first eccentricity</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> WGS84_EP = 0.0820944379;      <span class="comment">// second eccentricity</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// UTM Parameters</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_K0   = 0.9996;                   <span class="comment">// scale factor</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_FE   = 500000.0;                 <span class="comment">// false easting</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_FN_N = 0.0;                      <span class="comment">// false northing on north hemisphere</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_FN_S = 10000000.0;               <span class="comment">// false northing on south hemisphere</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_E2   = (WGS84_E * WGS84_E);      <span class="comment">// e^2</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_E4   = (UTM_E2 * UTM_E2);        <span class="comment">// e^4</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_E6   = (UTM_E4 * UTM_E2);        <span class="comment">// e^6</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> UTM_EP2  = (UTM_E2 / (1 - UTM_E2));  <span class="comment">// e&#39;^2</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> UTM(<span class="keywordtype">double</span> lat, <span class="keywordtype">double</span> lon, <span class="keywordtype">double</span>* x, <span class="keywordtype">double</span>* y) {</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">// constants</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> m0 = (1 - UTM_E2 / 4 - 3 * UTM_E4 / 64 - 5 * UTM_E6 / 256);</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> m1 = -(3 * UTM_E2 / 8 + 3 * UTM_E4 / 32 + 45 * UTM_E6 / 1024);</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> m2 = (15 * UTM_E4 / 256 + 45 * UTM_E6 / 1024);</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">double</span> m3 = -(35 * UTM_E6 / 3072);</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">// compute the central meridian</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">int</span> cm = ((lon &gt;= 0.0) ? ((int)lon - ((<span class="keywordtype">int</span>)lon) % 6 + 3) : ((int)lon - ((<span class="keywordtype">int</span>)lon) % 6 - 3));</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">// convert degrees into radians</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">double</span> rlat  = lat * RADIANS_PER_DEGREE;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">double</span> rlon  = lon * RADIANS_PER_DEGREE;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">double</span> rlon0 = cm * RADIANS_PER_DEGREE;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="comment">// compute trigonometric functions</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">double</span> slat = sin(rlat);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">double</span> clat = cos(rlat);</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">double</span> tlat = tan(rlat);</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// decide the false northing at origin</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">double</span> fn = (lat &gt; 0) ? UTM_FN_N : UTM_FN_S;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">double</span> T = tlat * tlat;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">double</span> C = UTM_EP2 * clat * clat;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">double</span> A = (rlon - rlon0) * clat;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">double</span> M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">double</span> V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">// compute the easting-northing coordinates</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    *x = UTM_FE + UTM_K0 * V * (A + (1 - T + C) * pow(A, 3) / 6 + (5 - 18 * T + T * T + 72 * C - 58 * UTM_EP2) * pow(A, 5) / 120);</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    *y = fn +</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;         UTM_K0 *</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;             (M + V * tlat * (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * pow(A, 4) / 24 + ((61 - 58 * T + T * T + 600 * C - 330 * UTM_EP2) * pow(A, 6) / 720)));</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">char</span> UTMLetterDesignator(<span class="keywordtype">double</span> Lat) {</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">char</span> LetterDesignator;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">if</span> ((84 &gt;= Lat) &amp;&amp; (Lat &gt;= 72))</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      LetterDesignator = <span class="charliteral">&#39;X&#39;</span>;</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((72 &gt; Lat) &amp;&amp; (Lat &gt;= 64))</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      LetterDesignator = <span class="charliteral">&#39;W&#39;</span>;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((64 &gt; Lat) &amp;&amp; (Lat &gt;= 56))</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      LetterDesignator = <span class="charliteral">&#39;V&#39;</span>;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((56 &gt; Lat) &amp;&amp; (Lat &gt;= 48))</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      LetterDesignator = <span class="charliteral">&#39;U&#39;</span>;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((48 &gt; Lat) &amp;&amp; (Lat &gt;= 40))</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      LetterDesignator = <span class="charliteral">&#39;T&#39;</span>;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((40 &gt; Lat) &amp;&amp; (Lat &gt;= 32))</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      LetterDesignator = <span class="charliteral">&#39;S&#39;</span>;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((32 &gt; Lat) &amp;&amp; (Lat &gt;= 24))</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      LetterDesignator = <span class="charliteral">&#39;R&#39;</span>;</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((24 &gt; Lat) &amp;&amp; (Lat &gt;= 16))</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      LetterDesignator = <span class="charliteral">&#39;Q&#39;</span>;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((16 &gt; Lat) &amp;&amp; (Lat &gt;= 8))</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      LetterDesignator = <span class="charliteral">&#39;P&#39;</span>;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((8 &gt; Lat) &amp;&amp; (Lat &gt;= 0))</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      LetterDesignator = <span class="charliteral">&#39;N&#39;</span>;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((0 &gt; Lat) &amp;&amp; (Lat &gt;= -8))</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      LetterDesignator = <span class="charliteral">&#39;M&#39;</span>;</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-8 &gt; Lat) &amp;&amp; (Lat &gt;= -16))</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      LetterDesignator = <span class="charliteral">&#39;L&#39;</span>;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-16 &gt; Lat) &amp;&amp; (Lat &gt;= -24))</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      LetterDesignator = <span class="charliteral">&#39;K&#39;</span>;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-24 &gt; Lat) &amp;&amp; (Lat &gt;= -32))</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      LetterDesignator = <span class="charliteral">&#39;J&#39;</span>;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-32 &gt; Lat) &amp;&amp; (Lat &gt;= -40))</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      LetterDesignator = <span class="charliteral">&#39;H&#39;</span>;</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-40 &gt; Lat) &amp;&amp; (Lat &gt;= -48))</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      LetterDesignator = <span class="charliteral">&#39;G&#39;</span>;</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-48 &gt; Lat) &amp;&amp; (Lat &gt;= -56))</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      LetterDesignator = <span class="charliteral">&#39;F&#39;</span>;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-56 &gt; Lat) &amp;&amp; (Lat &gt;= -64))</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      LetterDesignator = <span class="charliteral">&#39;E&#39;</span>;</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-64 &gt; Lat) &amp;&amp; (Lat &gt;= -72))</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      LetterDesignator = <span class="charliteral">&#39;D&#39;</span>;</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((-72 &gt; Lat) &amp;&amp; (Lat &gt;= -80))</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      LetterDesignator = <span class="charliteral">&#39;C&#39;</span>;</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="comment">// &#39;Z&#39; is an error flag, the Latitude is outside the UTM limits</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      LetterDesignator = <span class="charliteral">&#39;Z&#39;</span>;</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">return</span> LetterDesignator;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> LLtoUTM(<span class="keyword">const</span> <span class="keywordtype">double</span> Lat, <span class="keyword">const</span> <span class="keywordtype">double</span> Long, <span class="keywordtype">double</span>&amp; UTMNorthing, <span class="keywordtype">double</span>&amp; UTMEasting, <span class="keywordtype">char</span>* UTMZone) {</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">double</span> a          = WGS84_A;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">double</span> eccSquared = UTM_E2;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordtype">double</span> k0         = UTM_K0;</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">double</span> LongOrigin;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordtype">double</span> eccPrimeSquared;</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">double</span> N, T, C, A, M;</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">// Make sure the longitude is between -180.00 .. 179.9</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordtype">double</span> LongTemp = (Long + 180) - <span class="keywordtype">int</span>((Long + 180) / 360) * 360 - 180;</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">double</span> LatRad  = Lat * RADIANS_PER_DEGREE;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">double</span> LongRad = LongTemp * RADIANS_PER_DEGREE;</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">double</span> LongOriginRad;</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordtype">int</span>    ZoneNumber;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    ZoneNumber = int((LongTemp + 180) / 6) + 1;</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="comment">// range clamping to shut up some compiler warnings</span></div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">// (the UTM Zone number should in reality be in the range &lt;1, 60&gt;)</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">if</span> (ZoneNumber &gt; 99)</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      ZoneNumber = 99;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">if</span> (ZoneNumber &lt; -9)</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      ZoneNumber = -9;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">if</span> (Lat &gt;= 56.0 &amp;&amp; Lat &lt; 64.0 &amp;&amp; LongTemp &gt;= 3.0 &amp;&amp; LongTemp &lt; 12.0)</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      ZoneNumber = 32;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">// Special zones for Svalbard</span></div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">if</span> (Lat &gt;= 72.0 &amp;&amp; Lat &lt; 84.0) {</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordflow">if</span> (LongTemp &gt;= 0.0 &amp;&amp; LongTemp &lt; 9.0)</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        ZoneNumber = 31;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (LongTemp &gt;= 9.0 &amp;&amp; LongTemp &lt; 21.0)</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        ZoneNumber = 33;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (LongTemp &gt;= 21.0 &amp;&amp; LongTemp &lt; 33.0)</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        ZoneNumber = 35;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (LongTemp &gt;= 33.0 &amp;&amp; LongTemp &lt; 42.0)</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        ZoneNumber = 37;</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="comment">// +3 puts origin in middle of zone</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="comment">// compute the UTM Zone from the latitude and longitude</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    snprintf(UTMZone, 4, <span class="stringliteral">&quot;%d%c&quot;</span>, ZoneNumber, UTMLetterDesignator(Lat));</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    eccPrimeSquared = (eccSquared) / (1 - eccSquared);</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    T = tan(LatRad) * tan(LatRad);</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    C = eccPrimeSquared * cos(LatRad) * cos(LatRad);</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    A = cos(LatRad) * (LongRad - LongOriginRad);</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;             (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;             (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;             (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    UTMEasting =</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        (double)(k0 * N * (A + (1 - T + C) * A * A * A / 6 + (5 - 18 * T + T * T + 72 * C - 58 * eccPrimeSquared) * A * A * A * A * A / 120) + 500000.0);</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                                         (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                                          (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">if</span> (Lat &lt; 0)</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      UTMNorthing += 10000000.0;  <span class="comment">// 10000000 meter offset for southern hemisphere</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> LLtoUTM(<span class="keyword">const</span> <span class="keywordtype">double</span> Lat, <span class="keyword">const</span> <span class="keywordtype">double</span> Long, <span class="keywordtype">double</span>&amp; UTMNorthing, <span class="keywordtype">double</span>&amp; UTMEasting, std::string&amp; UTMZone) {</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordtype">char</span> zone_buf[] = {0, 0, 0, 0};</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    LLtoUTM(Lat, Long, UTMNorthing, UTMEasting, zone_buf);</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    UTMZone = zone_buf;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  }</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> UTMtoLL(<span class="keyword">const</span> <span class="keywordtype">double</span> UTMNorthing, <span class="keyword">const</span> <span class="keywordtype">double</span> UTMEasting, <span class="keyword">const</span> <span class="keywordtype">char</span>* UTMZone, <span class="keywordtype">double</span>&amp; Lat, <span class="keywordtype">double</span>&amp; Long) {</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordtype">double</span>                  k0         = UTM_K0;</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordtype">double</span>                  a          = WGS84_A;</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordtype">double</span>                  eccSquared = UTM_E2;</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordtype">double</span>                  eccPrimeSquared;</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordtype">double</span>                  e1 = (1 - sqrt(1 - eccSquared)) / (1 + sqrt(1 - eccSquared));</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordtype">double</span>                  N1, T1, C1, R1, D, M;</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordtype">double</span>                  LongOrigin;</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordtype">double</span>                  mu, phi1Rad;</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    [[maybe_unused]] <span class="keywordtype">double</span> phi1;</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordtype">double</span>                  x, y;</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordtype">int</span>                     ZoneNumber;</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordtype">char</span>*                   ZoneLetter;</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    [[maybe_unused]] <span class="keywordtype">int</span>    NorthernHemisphere;  <span class="comment">// 1 for northern hemispher, 0 for southern</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    x = UTMEasting - 500000.0;  <span class="comment">// remove 500,000 meter offset for longitude</span></div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    y = UTMNorthing;</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    ZoneNumber = strtoul(UTMZone, &amp;ZoneLetter, 10);</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">if</span> ((*ZoneLetter - <span class="charliteral">&#39;N&#39;</span>) &gt;= 0)</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      NorthernHemisphere = 1;  <span class="comment">// point is in northern hemisphere</span></div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      NorthernHemisphere = 0;  <span class="comment">// point is in southern hemisphere</span></div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      y -= 10000000.0;         <span class="comment">// remove 10,000,000 meter offset used for southern hemisphere</span></div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    }</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  <span class="comment">//+3 puts origin in middle of zone</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    eccPrimeSquared = (eccSquared) / (1 - eccSquared);</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    M  = y / k0;</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    phi1Rad = mu + (3 * e1 / 2 - 27 * e1 * e1 * e1 / 32) * sin(2 * mu) + (21 * e1 * e1 / 16 - 55 * e1 * e1 * e1 * e1 / 32) * sin(4 * mu) +</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;              (151 * e1 * e1 * e1 / 96) * sin(6 * mu);</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    phi1 = phi1Rad * DEGREES_PER_RADIAN;</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    T1 = tan(phi1Rad) * tan(phi1Rad);</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    D  = x / (N1 * k0);</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    Lat = phi1Rad - (N1 * tan(phi1Rad) / R1) * (D * D / 2 - (5 + 3 * T1 + 10 * C1 - 4 * C1 * C1 - 9 * eccPrimeSquared) * D * D * D * D / 24 +</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                                                (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    Lat = Lat * DEGREES_PER_RADIAN;</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    Long = (D - (1 + 2 * T1 + C1) * D * D * D / 6 + (5 - 2 * C1 + 28 * T1 - 3 * C1 * C1 + 8 * eccPrimeSquared + 24 * T1 * T1) * D * D * D * D * D / 120) /</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;           cos(phi1Rad);</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    Long = LongOrigin + Long * DEGREES_PER_RADIAN;</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  }</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> UTMtoLL(<span class="keyword">const</span> <span class="keywordtype">double</span> UTMNorthing, <span class="keyword">const</span> <span class="keywordtype">double</span> UTMEasting, std::string UTMZone, <span class="keywordtype">double</span>&amp; Lat, <span class="keywordtype">double</span>&amp; Long) {</div>
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+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor">#endif  // _UTM_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="gps__conversions_8h.html">gps_conversions.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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diff --git a/graph_legend.html b/graph_legend.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Graph Legend</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('graph_legend.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">Graph Legend</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line"><span class="comment">/*! Invisible class because of truncation */</span></div>
+<div class="line"><span class="keyword">class </span>Invisible { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Truncated class, inheritance relation is hidden */</span></div>
+<div class="line"><span class="keyword">class </span>Truncated : <span class="keyword">public</span> Invisible { };</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* Class not documented with doxygen comments */</span></div>
+<div class="line"><span class="keyword">class </span>Undocumented { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using public inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>PublicBase : <span class="keyword">public</span> Truncated { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! A template class */</span></div>
+<div class="line"><span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; <span class="keyword">class </span>Templ { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using protected inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>ProtectedBase { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is inherited using private inheritance */</span></div>
+<div class="line"><span class="keyword">class </span>PrivateBase { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Class that is used by the Inherited class */</span></div>
+<div class="line"><span class="keyword">class </span>Used { };</div>
+<div class="line"><span class="comment"></span> </div>
+<div class="line"><span class="comment">/*! Super class that inherits a number of other classes */</span></div>
+<div class="line"><span class="keyword">class </span>Inherited : <span class="keyword">public</span> PublicBase,</div>
+<div class="line">                  <span class="keyword">protected</span> ProtectedBase,</div>
+<div class="line">                  <span class="keyword">private</span> PrivateBase,</div>
+<div class="line">                  <span class="keyword">public</span> Undocumented,</div>
+<div class="line">                  <span class="keyword">public</span> Templ&lt;int&gt;</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">private</span>:</div>
+<div class="line">    Used *m_usedClass;</div>
+<div class="line">};</div>
+</div><!-- fragment --><p> This will result in the following graph:</p>
+<center><img src="graph_legend.png" alt="" class="inline"/></center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
+<li>
+A filled gray box represents the struct or class for which the graph is generated. </li>
+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
+</ul>
+<p>The arrows have the following meaning: </p>
+<ul>
+<li>
+A dark blue arrow is used to visualize a public inheritance relation between two classes. </li>
+<li>
+A dark green arrow is used for protected inheritance. </li>
+<li>
+A dark red arrow is used for private inheritance. </li>
+<li>
+A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible. </li>
+<li>
+A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance. </li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">Class Hierarchy</div>  </div>
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+<div class="contents">
+<div class="textblock">
+<p><a href="inherits.html">Go to the graphical class hierarchy</a></p>
+This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html" target="_self">mrs_lib::AtomicScopeFlag</a></td><td class="desc">Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope. Useful e.g. for indicating whether a thread is running or not </td></tr>
+<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1AttitudeConverter.html" target="_self">mrs_lib::AttitudeConverter</a></td><td class="desc">The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation </td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1BatchVisualizer.html" target="_self">mrs_lib::BatchVisualizer</a></td><td class="desc">Library for drawing large amounts of geometric objects in RVIZ at the same time </td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html" target="_self">mrs_lib::geometry::Cone</a></td><td class="desc">Geometric representaiton of a cone </td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html" target="_self">mrs_lib::geometry::Cuboid</a></td><td class="desc">Geometric representation of a cuboid </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="desc">Implementation of the a general cyclic value (such as angles in radians/degrees etc) </td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_6_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html" target="_self">mrs_lib::geometry::degrees</a></td><td class="desc">Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$) </td></tr>
+<tr id="row_7_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_7_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html" target="_self">mrs_lib::geometry::radians</a></td><td class="desc">Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$) </td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_8_" class="arrow" onclick="toggleFolder('8_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_8_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html" target="_self">mrs_lib::geometry::sdegrees</a></td><td class="desc">Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$) </td></tr>
+<tr id="row_9_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_9_" class="arrow" onclick="toggleFolder('9_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_9_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html" target="_self">mrs_lib::geometry::sradians</a></td><td class="desc">Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$) </td></tr>
+<tr id="row_10_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_10_" class="arrow" onclick="toggleFolder('10_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html" target="_self">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_10_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structdegrees.html" target="_self">degrees</a></td><td class="desc"></td></tr>
+<tr id="row_11_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html" target="_self">mrs_lib::geometry::Cylinder</a></td><td class="desc">Geometric representation of a cylinder </td></tr>
+<tr id="row_12_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1DynamicPublisher.html" target="_self">mrs_lib::DynamicPublisher</a></td><td class="desc">A helper class for easy publishing of ROS messages for debugging purposes </td></tr>
+<tr id="row_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html" target="_self">mrs_lib::DynamicReconfigureMgr&lt; ConfigType &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_14_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html" target="_self">mrs_lib::geometry::Ellipse</a></td><td class="desc">Geometric representation of an ellipse </td></tr>
+<tr id="row_15_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1EulerAttitude.html" target="_self">mrs_lib::EulerAttitude</a></td><td class="desc">A small class for storing the Euler angles </td></tr>
+<tr id="row_16_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_16_" class="arrow" onclick="toggleFolder('16_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>exception</b></td><td class="desc"></td></tr>
+<tr id="row_16_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html" target="_self">mrs_lib::AttitudeConverter::EulerFormatException</a></td><td class="desc">Thrown when the Euler angle format is set wrongly </td></tr>
+<tr id="row_16_1_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html" target="_self">mrs_lib::AttitudeConverter::GetHeadingException</a></td><td class="desc">Thrown when calculating of heading is not possible due to atan2 exception </td></tr>
+<tr id="row_16_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html" target="_self">mrs_lib::AttitudeConverter::InvalidAttitudeException</a></td><td class="desc">Thrown when the internal attitude becomes invalid </td></tr>
+<tr id="row_16_3_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html" target="_self">mrs_lib::AttitudeConverter::MathErrorException</a></td><td class="desc">Thrown when math breaks </td></tr>
+<tr id="row_16_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html" target="_self">mrs_lib::AttitudeConverter::SetHeadingException</a></td><td class="desc">Thrown when the heading cannot be set to an existing attitude </td></tr>
+<tr id="row_16_5_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1eigenvector__exception.html" target="_self">mrs_lib::eigenvector_exception</a></td><td class="desc">This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices </td></tr>
+<tr id="row_16_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html" target="_self">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception</a></td><td class="desc">This exception is thrown when taking the inverse of a matrix fails </td></tr>
+<tr id="row_16_7_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1LKF_1_1inverse__exception.html" target="_self">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</a></td><td class="desc">This exception is thrown when taking the inverse of a matrix fails </td></tr>
+<tr id="row_16_8_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Polygon_1_1ExtraVertices.html" target="_self">mrs_lib::Polygon::ExtraVertices</a></td><td class="desc"></td></tr>
+<tr id="row_16_9_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns.html" target="_self">mrs_lib::Polygon::WrongNumberOfColumns</a></td><td class="desc"></td></tr>
+<tr id="row_16_10_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices.html" target="_self">mrs_lib::Polygon::WrongNumberOfVertices</a></td><td class="desc"></td></tr>
+<tr id="row_16_11_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1SafetyZone_1_1BorderError.html" target="_self">mrs_lib::SafetyZone::BorderError</a></td><td class="desc"></td></tr>
+<tr id="row_16_12_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1UKF_1_1inverse__exception.html" target="_self">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</a></td><td class="desc">Thrown when taking the inverse of a matrix fails during kalman gain calculation </td></tr>
+<tr id="row_16_13_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1UKF_1_1square__root__exception.html" target="_self">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception</a></td><td class="desc">Thrown when taking the square root of a matrix fails during sigma generation </td></tr>
+<tr id="row_17_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1IirFilter.html" target="_self">mrs_lib::IirFilter</a></td><td class="desc"></td></tr>
+<tr id="row_18_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1ImagePubliserData.html" target="_self">mrs_lib::ImagePubliserData</a></td><td class="desc"></td></tr>
+<tr id="row_19_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ImagePublisher.html" target="_self">mrs_lib::ImagePublisher</a></td><td class="desc"></td></tr>
+<tr id="row_20_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classDynamicPublisher_1_1impl.html" target="_self">DynamicPublisher::impl</a></td><td class="desc"></td></tr>
+<tr id="row_21_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_21_" class="arrow" onclick="toggleFolder('21_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html" target="_self">mrs_lib::SubscribeHandler&lt; MessageType &gt;::Impl&lt; MessageType &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_21_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html" target="_self">mrs_lib::SubscribeHandler&lt; MessageType &gt;::ImplThreadsafe&lt; MessageType &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classThreadTimer_1_1Impl.html" target="_self">ThreadTimer::Impl</a></td><td class="desc"></td></tr>
+<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1Intersection.html" target="_self">mrs_lib::Intersection</a></td><td class="desc"></td></tr>
+<tr id="row_24_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_24_" class="arrow" onclick="toggleFolder('24_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1KalmanFilter.html" target="_self">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc">This abstract class defines common interfaces and types for a generic Kalman filter </td></tr>
+<tr id="row_24_0_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_24_0_" class="arrow" onclick="toggleFolder('24_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1LKF.html" target="_self">mrs_lib::LKF&lt; 3, -1, 2 &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_24_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1DKF.html" target="_self">mrs_lib::DKF</a></td><td class="desc">Implementation of the Degenerate measurement Linear Kalman filter </td></tr>
+<tr id="row_24_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_24_1_" class="arrow" onclick="toggleFolder('24_1_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1LKF.html" target="_self">mrs_lib::LKF&lt; 3, 1, 1 &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_24_1_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html" target="_self">mrs_lib::LKF_MRS_odom</a></td><td class="desc"></td></tr>
+<tr id="row_24_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_24_2_" class="arrow" onclick="toggleFolder('24_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1LKF.html" target="_self">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc">Implementation of the Linear Kalman filter <a class="el" href="citelist.html#CITEREF_LKF">[3]</a> </td></tr>
+<tr id="row_24_2_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_24_2_0_" class="arrow" onclick="toggleFolder('24_2_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NCLKF.html" target="_self">mrs_lib::NCLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc">This class implements the norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a> </td></tr>
+<tr id="row_24_2_0_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NCLKF__partial.html" target="_self">mrs_lib::NCLKF_partial&lt; n_states, n_inputs, n_measurements, n_norm_constrained_states &gt;</a></td><td class="desc">This class implements the partially norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a> </td></tr>
+<tr id="row_24_2_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1varstepLKF.html" target="_self">mrs_lib::varstepLKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_24_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_24_3_" class="arrow" onclick="toggleFolder('24_3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1UKF.html" target="_self">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc">Implementation of the Unscented Kalman filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a> </td></tr>
+<tr id="row_24_3_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NCUKF.html" target="_self">mrs_lib::NCUKF&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_25_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_25_" class="arrow" onclick="toggleFolder('25_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html" target="_self">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td><td class="desc">This abstract class defines common interfaces and types for a generic Kalman filter </td></tr>
+<tr id="row_25_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1JLKF.html" target="_self">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1MedianFilter.html" target="_self">mrs_lib::MedianFilter</a></td><td class="desc">Implementation of a median filter with a fixed-length buffer </td></tr>
+<tr id="row_27_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html" target="_self">mrs_lib::quadratic_throttle_model::MotorParams_t</a></td><td class="desc"></td></tr>
+<tr id="row_28_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_28_" class="arrow" onclick="toggleFolder('28_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1MRSTimer.html" target="_self">mrs_lib::MRSTimer</a></td><td class="desc">Common wrapper representing the functionality of the ros::Timer </td></tr>
+<tr id="row_28_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ROSTimer.html" target="_self">mrs_lib::ROSTimer</a></td><td class="desc">Ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method </td></tr>
+<tr id="row_28_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ThreadTimer.html" target="_self">mrs_lib::ThreadTimer</a></td><td class="desc">Custom thread-based Timers with the same interface as <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">mrs_lib::ROSTimer</a> </td></tr>
+<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structMyPoint.html" target="_self">MyPoint</a></td><td class="desc"></td></tr>
+<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1NotchFilter.html" target="_self">mrs_lib::NotchFilter</a></td><td class="desc"></td></tr>
+<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobj__t.html" target="_self">obj_t</a></td><td class="desc"></td></tr>
+<tr id="row_32_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ParamLoader.html" target="_self">mrs_lib::ParamLoader</a></td><td class="desc">Convenience class for loading parameters from rosparam server </td></tr>
+<tr id="row_33_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ParamProvider.html" target="_self">mrs_lib::ParamProvider</a></td><td class="desc">Helper class for <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a> </td></tr>
+<tr id="row_34_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Polygon.html" target="_self">mrs_lib::Polygon</a></td><td class="desc"></td></tr>
+<tr id="row_35_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Profiler.html" target="_self">mrs_lib::Profiler</a></td><td class="desc"></td></tr>
+<tr id="row_36_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1PublisherHandler.html" target="_self">mrs_lib::PublisherHandler&lt; TopicType &gt;</a></td><td class="desc">User wrapper of the publisher handler implementation </td></tr>
+<tr id="row_37_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html" target="_self">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td><td class="desc">Implementation of the publisher handler </td></tr>
+<tr id="row_38_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html" target="_self">mrs_lib::geometry::Ray</a></td><td class="desc">Geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-to raycast, or a point-direction raycast </td></tr>
+<tr id="row_39_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html" target="_self">mrs_lib::geometry::Rectangle</a></td><td class="desc">Geometric representation of a rectangle (can represent any quadrilateral) </td></tr>
+<tr id="row_40_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Repredictor.html" target="_self">mrs_lib::Repredictor&lt; Model, disable_reprediction &gt;</a></td><td class="desc">Implementation of the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> for fusing measurements with variable delays </td></tr>
+<tr id="row_41_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_41_" class="arrow" onclick="toggleFolder('41_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Repredictor.html" target="_self">mrs_lib::Repredictor&lt; Model &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_41_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" target="_self">mrs_lib::RepredictorAloamgarm&lt; Model &gt;</a></td><td class="desc">Implementation of the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> for fusing measurements with variable delays </td></tr>
+<tr id="row_42_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1RHEIV.html" target="_self">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td><td class="desc">Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a> </td></tr>
+<tr id="row_43_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Routine.html" target="_self">mrs_lib::Routine</a></td><td class="desc"></td></tr>
+<tr id="row_44_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1SafetyZone.html" target="_self">mrs_lib::SafetyZone</a></td><td class="desc"></td></tr>
+<tr id="row_45_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ScopeTimer.html" target="_self">mrs_lib::ScopeTimer</a></td><td class="desc">Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time </td></tr>
+<tr id="row_46_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html" target="_self">mrs_lib::ScopeTimerLogger</a></td><td class="desc">Simple file logger of scope timer and its checkpoints </td></tr>
+<tr id="row_47_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html" target="_self">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td><td class="desc">User wrapper of the service client handler implementation </td></tr>
+<tr id="row_48_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html" target="_self">mrs_lib::ServiceClientHandler_impl&lt; ServiceType &gt;</a></td><td class="desc">Implementation of the service client handler </td></tr>
+<tr id="row_49_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html" target="_self">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="desc">Helper struct for passing around the state and its covariance in one variable </td></tr>
+<tr id="row_50_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html" target="_self">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="desc">Helper struct for passing around the state and its covariance in one variable </td></tr>
+<tr id="row_51_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSubObject.html" target="_self">SubObject</a></td><td class="desc"></td></tr>
+<tr id="row_52_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1SubscribeHandler.html" target="_self">mrs_lib::SubscribeHandler&lt; MessageType &gt;</a></td><td class="desc">The main class for ROS topic subscription, message timeout handling etc </td></tr>
+<tr id="row_53_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html" target="_self">mrs_lib::SubscribeHandlerOptions</a></td><td class="desc">A helper class to simplify setup of <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> construction. This class is passed to the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> constructor and specifies its common options </td></tr>
+<tr id="row_54_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_54_" class="arrow" onclick="toggleFolder('54_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>Test</b></td><td class="desc"></td></tr>
+<tr id="row_54_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classVectorConverterTest.html" target="_self">VectorConverterTest&lt; T &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_55_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html" target="_self">mrs_lib::ScopeTimer::time_point</a></td><td class="desc"></td></tr>
+<tr id="row_56_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1TimeoutManager.html" target="_self">mrs_lib::TimeoutManager</a></td><td class="desc">TODO </td></tr>
+<tr id="row_57_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html" target="_self">mrs_lib::TransformBroadcaster</a></td><td class="desc">Wrapper for the tf2_ros::TransformBroadcaster. With each <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93" title="check if the transform is newer than the last published one and publish it. Transform is skipped if a...">sendTransform()</a> command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output </td></tr>
+<tr id="row_58_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Transformer.html" target="_self">mrs_lib::Transformer</a></td><td class="desc">A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages </td></tr>
+<tr id="row_59_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html" target="_self">mrs_lib::geometry::Triangle</a></td><td class="desc">Geometric representation of a triangle. Instantiate a new triangle by providing three vertices </td></tr>
+<tr id="row_60_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structstd_1_1tuple__element_3_010_00_01mrs__lib_1_1AttitudeConverter_01_4.html" target="_self">std::tuple_element&lt; 0, mrs_lib::AttitudeConverter &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_61_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structstd_1_1tuple__element_3_011_00_01mrs__lib_1_1AttitudeConverter_01_4.html" target="_self">std::tuple_element&lt; 1, mrs_lib::AttitudeConverter &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_62_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structstd_1_1tuple__element_3_012_00_01mrs__lib_1_1AttitudeConverter_01_4.html" target="_self">std::tuple_element&lt; 2, mrs_lib::AttitudeConverter &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_63_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4.html" target="_self">std::tuple_size&lt; mrs_lib::AttitudeConverter &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_64_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1Vector3Converter.html" target="_self">mrs_lib::Vector3Converter</a></td><td class="desc">Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of vector3 variable </td></tr>
+<tr id="row_65_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classmrs__lib_1_1VisualObject.html" target="_self">mrs_lib::VisualObject</a></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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diff --git a/iir__filter_8h__incl.map b/iir__filter_8h__incl.map
new file mode 100644
index 00000000..a75daaf3
--- /dev/null
+++ b/iir__filter_8h__incl.map
@@ -0,0 +1,4 @@
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diff --git a/iir__filter_8h__incl.md5 b/iir__filter_8h__incl.md5
new file mode 100644
index 00000000..450eb2c3
--- /dev/null
+++ b/iir__filter_8h__incl.md5
@@ -0,0 +1 @@
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diff --git a/iir__filter_8h__incl.png b/iir__filter_8h__incl.png
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="iir__filter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#ifndef IIR_FILTER_H</span></div>
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+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
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+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;{</div>
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+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1IirFilter.html">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1IirFilter.html">IirFilter</a> {</div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">image_publisher.h</div>  </div>
+</div><!--header-->
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef _IMAGE_TRANSPORTER_</span></div>
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+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;cv_bridge/cv_bridge.h&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;image_transport/image_transport.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
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+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a> {</div>
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+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1ImagePubliserData.html">   13</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1ImagePubliserData.html">ImagePubliserData</a>{</div>
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+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;      :</div>
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+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    std::mutex pub_mutex;</div>
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+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ImagePublisher.html">   25</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ImagePublisher.html">ImagePublisher</a>{</div>
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+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      sensor_msgs::ImagePtr msg;</div>
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+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      std::mutex main_pub_mutex;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
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+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;}</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#endif //_IMAGE_TRANSPORTER_</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1ImagePubliserData_html"><div class="ttname"><a href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a></div><div class="ttdef"><b>Definition:</b> image_publisher.h:13</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+<title>mrs_lib: MRS libraries</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="doc-content">
+<!-- window showing the filter options -->
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<div class="PageDoc"><div class="header">
+  <div class="headertitle">
+<div class="title">MRS libraries </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><img src=".fig/thumbnail.jpg" alt="" class="inline"/></p>
+<blockquote class="doxtable">
+<p>:warning: <b>Attention please: This README is outdated.</b></p>
+<p>The MRS UAV System 1.5 is being released and this page needs updating. Please, keep in mind that the information on this page might not be valid. </p>
+</blockquote>
+<h1><a class="anchor" id="autotoc_md1"></a>
+Overview</h1>
+<p>This ROS package contains various useful libraries (mostly C++) for the <a href="https://github.com/ctu-mrs/mrs_uav_system">MRS UAV system</a>.</p>
+<ul>
+<li>Online documentation: <a href="https://ctu-mrs.github.io/mrs_lib">https://ctu-mrs.github.io/mrs_lib</a>.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md2"></a>
+Notable libraries:</h1>
+<ul>
+<li><b>ParamLoader</b> - wrapper around ROS's param loading for C++ (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1ParamLoader.html">documentation</a>)</li>
+<li><b>Transformer</b> - wrapper around ROS's transfomation library (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1Transformer.html">documentation</a>)</li>
+<li><b>SubscribeHandler</b> - wrapper around ROS's subscriber (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1SubscribeHandler.html">documentation</a>)</li>
+<li><b>AttitudeConverter</b> - a proxy class for converting representations of 3D orientation (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1AttitudeConverter.html">documentation</a>)</li>
+<li><b>LKF</b> - Linear Kalman Filter (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1LKF.html">documentation</a>)</li>
+<li><b>UKF</b> - Unscented Kalman Filter (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1UKF.html">documentation</a>)</li>
+<li><b>Repredictor</b> - algorithm for fusing variably time-delayed measurements (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1Repredictor.html">documentation</a>)</li>
+<li><b>Profiler</b> - scoped profiling routine (<a href="https://ctu-mrs.github.io/mrs_lib/classmrs__lib_1_1Profiler.html">documentation</a>) </li>
+</ul>
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diff --git a/inherit_graph_11.map b/inherit_graph_11.map
new file mode 100644
index 00000000..4b2cda44
--- /dev/null
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diff --git a/inherit_graph_11.md5 b/inherit_graph_11.md5
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diff --git a/inherit_graph_12.map b/inherit_graph_12.map
new file mode 100644
index 00000000..55575631
--- /dev/null
+++ b/inherit_graph_12.map
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diff --git a/inherit_graph_12.md5 b/inherit_graph_12.md5
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diff --git a/inherit_graph_14.map b/inherit_graph_14.map
new file mode 100644
index 00000000..05947492
--- /dev/null
+++ b/inherit_graph_14.map
@@ -0,0 +1,4 @@
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diff --git a/inherit_graph_14.md5 b/inherit_graph_14.md5
new file mode 100644
index 00000000..5e3486b1
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diff --git a/inherit_graph_15.map b/inherit_graph_15.map
new file mode 100644
index 00000000..3874689c
--- /dev/null
+++ b/inherit_graph_15.map
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diff --git a/inherit_graph_15.md5 b/inherit_graph_15.md5
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diff --git a/inherit_graph_16.map b/inherit_graph_16.map
new file mode 100644
index 00000000..0af5c047
--- /dev/null
+++ b/inherit_graph_16.map
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new file mode 100644
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--- /dev/null
+++ b/inherit_graph_17.map
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new file mode 100644
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diff --git a/inherit_graph_19.map b/inherit_graph_19.map
new file mode 100644
index 00000000..197a4ab1
--- /dev/null
+++ b/inherit_graph_19.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
+<area shape="rect" id="node1" href="$classmrs__lib_1_1geometry_1_1Rectangle.html" title="geometric representation of a rectangle (can represent any quadrilateral)" alt="" coords="5,5,153,47"/>
+</map>
diff --git a/inherit_graph_19.md5 b/inherit_graph_19.md5
new file mode 100644
index 00000000..0bfc362c
--- /dev/null
+++ b/inherit_graph_19.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/inherit_graph_19.png b/inherit_graph_19.png
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literal 0
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diff --git a/inherit_graph_2.map b/inherit_graph_2.map
new file mode 100644
index 00000000..7cdf192e
--- /dev/null
+++ b/inherit_graph_2.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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+</map>
diff --git a/inherit_graph_2.md5 b/inherit_graph_2.md5
new file mode 100644
index 00000000..7af8bd76
--- /dev/null
+++ b/inherit_graph_2.md5
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\ No newline at end of file
diff --git a/inherit_graph_2.png b/inherit_graph_2.png
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diff --git a/inherit_graph_20.map b/inherit_graph_20.map
new file mode 100644
index 00000000..91447e18
--- /dev/null
+++ b/inherit_graph_20.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_20.md5 b/inherit_graph_20.md5
new file mode 100644
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--- /dev/null
+++ b/inherit_graph_20.md5
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diff --git a/inherit_graph_21.map b/inherit_graph_21.map
new file mode 100644
index 00000000..fb2315b6
--- /dev/null
+++ b/inherit_graph_21.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_21.md5 b/inherit_graph_21.md5
new file mode 100644
index 00000000..75db4972
--- /dev/null
+++ b/inherit_graph_21.md5
@@ -0,0 +1 @@
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diff --git a/inherit_graph_21.png b/inherit_graph_21.png
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literal 0
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diff --git a/inherit_graph_22.map b/inherit_graph_22.map
new file mode 100644
index 00000000..7178f74c
--- /dev/null
+++ b/inherit_graph_22.map
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diff --git a/inherit_graph_22.md5 b/inherit_graph_22.md5
new file mode 100644
index 00000000..9957585f
--- /dev/null
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diff --git a/inherit_graph_22.png b/inherit_graph_22.png
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diff --git a/inherit_graph_23.map b/inherit_graph_23.map
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--- /dev/null
+++ b/inherit_graph_23.map
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diff --git a/inherit_graph_23.md5 b/inherit_graph_23.md5
new file mode 100644
index 00000000..4b9588df
--- /dev/null
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diff --git a/inherit_graph_23.png b/inherit_graph_23.png
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index 0000000000000000000000000000000000000000..559fbd850a5fcdde039fc4ed8c1da0bc76d7f377
GIT binary patch
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literal 0
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diff --git a/inherit_graph_24.map b/inherit_graph_24.map
new file mode 100644
index 00000000..6eb0ff40
--- /dev/null
+++ b/inherit_graph_24.map
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diff --git a/inherit_graph_24.md5 b/inherit_graph_24.md5
new file mode 100644
index 00000000..b7ade448
--- /dev/null
+++ b/inherit_graph_24.md5
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diff --git a/inherit_graph_24.png b/inherit_graph_24.png
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GIT binary patch
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new file mode 100644
index 00000000..12397cbb
--- /dev/null
+++ b/inherit_graph_26.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_26.md5 b/inherit_graph_26.md5
new file mode 100644
index 00000000..0232ab8d
--- /dev/null
+++ b/inherit_graph_26.md5
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diff --git a/inherit_graph_28.map b/inherit_graph_28.map
new file mode 100644
index 00000000..285c5a44
--- /dev/null
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index 00000000..071cd821
--- /dev/null
+++ b/inherit_graph_29.map
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+++ b/inherit_graph_3.map
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diff --git a/inherit_graph_3.md5 b/inherit_graph_3.md5
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diff --git a/inherit_graph_34.md5 b/inherit_graph_34.md5
new file mode 100644
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diff --git a/inherit_graph_35.md5 b/inherit_graph_35.md5
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diff --git a/inherit_graph_36.map b/inherit_graph_36.map
new file mode 100644
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diff --git a/inherit_graph_36.md5 b/inherit_graph_36.md5
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diff --git a/inherit_graph_37.map b/inherit_graph_37.map
new file mode 100644
index 00000000..62a91f9a
--- /dev/null
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diff --git a/inherit_graph_37.md5 b/inherit_graph_37.md5
new file mode 100644
index 00000000..275a8667
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diff --git a/inherit_graph_37.png b/inherit_graph_37.png
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GIT binary patch
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new file mode 100644
index 00000000..5d5242dd
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new file mode 100644
index 00000000..37674bbf
--- /dev/null
+++ b/inherit_graph_44.map
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diff --git a/inherit_graph_44.md5 b/inherit_graph_44.md5
new file mode 100644
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new file mode 100644
index 00000000..1c84814a
--- /dev/null
+++ b/inherit_graph_45.map
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diff --git a/inherit_graph_45.md5 b/inherit_graph_45.md5
new file mode 100644
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diff --git a/inherit_graph_46.map b/inherit_graph_46.map
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index 00000000..7c71865f
--- /dev/null
+++ b/inherit_graph_46.map
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diff --git a/inherit_graph_46.md5 b/inherit_graph_46.md5
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diff --git a/inherit_graph_47.map b/inherit_graph_47.map
new file mode 100644
index 00000000..7ea4dfbd
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diff --git a/inherit_graph_47.md5 b/inherit_graph_47.md5
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new file mode 100644
index 00000000..838a115d
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diff --git a/inherit_graph_51.map b/inherit_graph_51.map
new file mode 100644
index 00000000..9b9f2bb3
--- /dev/null
+++ b/inherit_graph_51.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_51.md5 b/inherit_graph_51.md5
new file mode 100644
index 00000000..f6c1b4e3
--- /dev/null
+++ b/inherit_graph_51.md5
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diff --git a/inherit_graph_51.png b/inherit_graph_51.png
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diff --git a/inherit_graph_52.map b/inherit_graph_52.map
new file mode 100644
index 00000000..e1f0359e
--- /dev/null
+++ b/inherit_graph_52.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_52.md5 b/inherit_graph_52.md5
new file mode 100644
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--- /dev/null
+++ b/inherit_graph_52.md5
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literal 0
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diff --git a/inherit_graph_56.map b/inherit_graph_56.map
new file mode 100644
index 00000000..7f4c8299
--- /dev/null
+++ b/inherit_graph_56.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_56.md5 b/inherit_graph_56.md5
new file mode 100644
index 00000000..14952d47
--- /dev/null
+++ b/inherit_graph_56.md5
@@ -0,0 +1 @@
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diff --git a/inherit_graph_56.png b/inherit_graph_56.png
new file mode 100644
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literal 0
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diff --git a/inherit_graph_57.map b/inherit_graph_57.map
new file mode 100644
index 00000000..2b895500
--- /dev/null
+++ b/inherit_graph_57.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_57.md5 b/inherit_graph_57.md5
new file mode 100644
index 00000000..b15d12f0
--- /dev/null
+++ b/inherit_graph_57.md5
@@ -0,0 +1 @@
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diff --git a/inherit_graph_57.png b/inherit_graph_57.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b5722069ca8744e11859156cd6e9507e60f79d6
GIT binary patch
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literal 0
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diff --git a/inherit_graph_58.map b/inherit_graph_58.map
new file mode 100644
index 00000000..0ab11a78
--- /dev/null
+++ b/inherit_graph_58.map
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diff --git a/inherit_graph_58.md5 b/inherit_graph_58.md5
new file mode 100644
index 00000000..a1a63fcf
--- /dev/null
+++ b/inherit_graph_58.md5
@@ -0,0 +1 @@
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diff --git a/inherit_graph_58.png b/inherit_graph_58.png
new file mode 100644
index 0000000000000000000000000000000000000000..31431f2194ac18b10f0e072b8754416920b52c77
GIT binary patch
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literal 0
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diff --git a/inherit_graph_59.map b/inherit_graph_59.map
new file mode 100644
index 00000000..8f5af22a
--- /dev/null
+++ b/inherit_graph_59.map
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diff --git a/inherit_graph_59.md5 b/inherit_graph_59.md5
new file mode 100644
index 00000000..381c461f
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diff --git a/inherit_graph_59.png b/inherit_graph_59.png
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GIT binary patch
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diff --git a/inherit_graph_6.map b/inherit_graph_6.map
new file mode 100644
index 00000000..78fb6cdf
--- /dev/null
+++ b/inherit_graph_6.map
@@ -0,0 +1,3 @@
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diff --git a/inherit_graph_6.md5 b/inherit_graph_6.md5
new file mode 100644
index 00000000..2ec90b44
--- /dev/null
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diff --git a/inherit_graph_60.map b/inherit_graph_60.map
new file mode 100644
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--- /dev/null
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diff --git a/inherit_graph_61.map b/inherit_graph_61.map
new file mode 100644
index 00000000..300fc625
--- /dev/null
+++ b/inherit_graph_61.map
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diff --git a/inherit_graph_61.md5 b/inherit_graph_61.md5
new file mode 100644
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diff --git a/inherit_graph_62.map b/inherit_graph_62.map
new file mode 100644
index 00000000..3d04a1a9
--- /dev/null
+++ b/inherit_graph_62.map
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diff --git a/inherit_graph_62.md5 b/inherit_graph_62.md5
new file mode 100644
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new file mode 100644
index 00000000..1885b531
--- /dev/null
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diff --git a/inherit_graph_63.md5 b/inherit_graph_63.md5
new file mode 100644
index 00000000..8e2e2b95
--- /dev/null
+++ b/inherit_graph_63.md5
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literal 0
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diff --git a/inherit_graph_64.map b/inherit_graph_64.map
new file mode 100644
index 00000000..569f2ea5
--- /dev/null
+++ b/inherit_graph_64.map
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diff --git a/inherit_graph_64.md5 b/inherit_graph_64.md5
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index 00000000..ee1ce742
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diff --git a/inherit_graph_64.png b/inherit_graph_64.png
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literal 0
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diff --git a/inherit_graph_65.map b/inherit_graph_65.map
new file mode 100644
index 00000000..5a9afe58
--- /dev/null
+++ b/inherit_graph_65.map
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diff --git a/inherit_graph_65.md5 b/inherit_graph_65.md5
new file mode 100644
index 00000000..0d49fe73
--- /dev/null
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diff --git a/inherit_graph_65.png b/inherit_graph_65.png
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literal 0
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diff --git a/inherit_graph_7.map b/inherit_graph_7.map
new file mode 100644
index 00000000..853486ae
--- /dev/null
+++ b/inherit_graph_7.map
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+  <div class="headertitle">
+<div class="title">Class Hierarchy</div>  </div>
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+<div class="contents">
+<div class="textblock">
+<p><a href="hierarchy.html">Go to the textual class hierarchy</a></p>
+</div><table border="0" cellspacing="10" cellpadding="0">
+<tr><td><img src="inherit_graph_0.png" border="0" usemap="#DynamicPublisher_1_1impl" alt=""/>
+<map name="DynamicPublisher_1_1impl" id="DynamicPublisher_1_1impl">
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+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_1.png" border="0" usemap="#mrs__lib_1_1AtomicScopeFlag" alt=""/>
+<map name="mrs__lib_1_1AtomicScopeFlag" id="mrs__lib_1_1AtomicScopeFlag">
+<area shape="rect" href="classmrs__lib_1_1AtomicScopeFlag.html" title="Convenience class for automatically setting and unsetting an atomic boolean based on the object&#39;s sco..." alt="" coords="5,5,196,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_2.png" border="0" usemap="#mrs__lib_1_1AttitudeConverter" alt=""/>
+<map name="mrs__lib_1_1AttitudeConverter" id="mrs__lib_1_1AttitudeConverter">
+<area shape="rect" href="classmrs__lib_1_1AttitudeConverter.html" title="The main convertor class. Instantiate with any type in constructor and get the value in any other typ..." alt="" coords="5,5,200,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_3.png" border="0" usemap="#mrs__lib_1_1AttitudeConverter_1_1EulerFormatException" alt=""/>
+<map name="mrs__lib_1_1AttitudeConverter_1_1EulerFormatException" id="mrs__lib_1_1AttitudeConverter_1_1EulerFormatException">
+<area shape="rect" title=" " alt="" coords="5,453,92,479"/>
+<area shape="rect" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html" title="is thrown when the Euler angle format is set wrongly" alt="" coords="159,5,353,47"/>
+<area shape="rect" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html" title="is thrown when calculating of heading is not possible due to atan2 exception" alt="" coords="159,71,353,112"/>
+<area shape="rect" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html" title="is thrown when the internal attitude becomes invalid" alt="" coords="159,136,353,177"/>
+<area shape="rect" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html" title="is thrown when math breaks" alt="" coords="159,201,353,243"/>
+<area shape="rect" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html" title="is thrown when the heading cannot be set to an existing attitude" alt="" coords="159,267,353,308"/>
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+<area shape="rect" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html" title="This exception is thrown when taking the inverse of a matrix fails." alt="" coords="143,398,369,454"/>
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+<area shape="rect" href="structmrs__lib_1_1UKF_1_1square__root__exception.html" title="is thrown when taking the square root of a matrix fails during sigma generation" alt="" coords="155,886,357,942"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_4.png" border="0" usemap="#mrs__lib_1_1BatchVisualizer" alt=""/>
+<map name="mrs__lib_1_1BatchVisualizer" id="mrs__lib_1_1BatchVisualizer">
+<area shape="rect" href="classmrs__lib_1_1BatchVisualizer.html" title="library for drawing large amounts of geometric objects in RVIZ at the same time" alt="" coords="5,5,184,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_5.png" border="0" usemap="#mrs__lib_1_1DynamicPublisher" alt=""/>
+<map name="mrs__lib_1_1DynamicPublisher" id="mrs__lib_1_1DynamicPublisher">
+<area shape="rect" href="classmrs__lib_1_1DynamicPublisher.html" title="A helper class for easy publishing of ROS messages for debugging purposes." alt="" coords="5,5,201,32"/>
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+</td></tr>
+<tr><td><img src="inherit_graph_6.png" border="0" usemap="#mrs__lib_1_1DynamicReconfigureMgr_3_01ConfigType_01_4" alt=""/>
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+</td></tr>
+<tr><td><img src="inherit_graph_7.png" border="0" usemap="#mrs__lib_1_1EulerAttitude" alt=""/>
+<map name="mrs__lib_1_1EulerAttitude" id="mrs__lib_1_1EulerAttitude">
+<area shape="rect" href="classmrs__lib_1_1EulerAttitude.html" title="A small class for storing the Euler angles." alt="" coords="5,5,168,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_8.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Cone" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Cone" id="mrs__lib_1_1geometry_1_1Cone">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Cone.html" title="geometric representaiton of a cone" alt="" coords="5,5,187,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_9.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Cuboid" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Cuboid" id="mrs__lib_1_1geometry_1_1Cuboid">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Cuboid.html" title="geometric representation of a cuboid" alt="" coords="5,5,153,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_10.png" border="0" usemap="#mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01degrees_01_4" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01degrees_01_4" id="mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01degrees_01_4">
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+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_11.png" border="0" usemap="#mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01radians_01_4" alt=""/>
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+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_12.png" border="0" usemap="#mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01sdegrees_01_4" alt=""/>
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+<area shape="rect" href="structmrs__lib_1_1geometry_1_1sdegrees.html" title="Convenience specialization of the cyclic class for signed degrees (from $&#45;180$ to $180$)." alt="" coords="253,5,401,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_13.png" border="0" usemap="#mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01sradians_01_4" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01sradians_01_4" id="mrs__lib_1_1geometry_1_1cyclic_3_01double_00_01sradians_01_4">
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+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_14.png" border="0" usemap="#mrs__lib_1_1geometry_1_1cyclic_3_01float_00_01degrees_01_4" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1cyclic_3_01float_00_01degrees_01_4" id="mrs__lib_1_1geometry_1_1cyclic_3_01float_00_01degrees_01_4">
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+<area shape="rect" href="structdegrees.html" title=" " alt="" coords="232,13,307,39"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_15.png" border="0" usemap="#mrs__lib_1_1geometry_1_1cyclic_3_01flt_00_01spec_01_4" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1cyclic_3_01flt_00_01spec_01_4" id="mrs__lib_1_1geometry_1_1cyclic_3_01flt_00_01spec_01_4">
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title="Implementation of the a general cyclic value (such as angles in radians/degrees etc)." alt="" coords="5,5,153,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_16.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Cylinder" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Cylinder" id="mrs__lib_1_1geometry_1_1Cylinder">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Cylinder.html" title="geometric representation of a cylinder" alt="" coords="5,5,153,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_17.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Ellipse" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Ellipse" id="mrs__lib_1_1geometry_1_1Ellipse">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Ellipse.html" title="geometric representation of an ellipse" alt="" coords="5,5,153,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_18.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Ray" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Ray" id="mrs__lib_1_1geometry_1_1Ray">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Ray.html" title="geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from&#45;t..." alt="" coords="5,5,179,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_19.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Rectangle" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Rectangle" id="mrs__lib_1_1geometry_1_1Rectangle">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Rectangle.html" title="geometric representation of a rectangle (can represent any quadrilateral)" alt="" coords="5,5,153,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_20.png" border="0" usemap="#mrs__lib_1_1geometry_1_1Triangle" alt=""/>
+<map name="mrs__lib_1_1geometry_1_1Triangle" id="mrs__lib_1_1geometry_1_1Triangle">
+<area shape="rect" href="classmrs__lib_1_1geometry_1_1Triangle.html" title="geometric representation of a triangle. Instantiate a new triangle by providing three vertices" alt="" coords="5,5,153,47"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_21.png" border="0" usemap="#mrs__lib_1_1IirFilter" alt=""/>
+<map name="mrs__lib_1_1IirFilter" id="mrs__lib_1_1IirFilter">
+<area shape="rect" href="classmrs__lib_1_1IirFilter.html" title=" " alt="" coords="5,5,129,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_22.png" border="0" usemap="#mrs__lib_1_1ImagePubliserData" alt=""/>
+<map name="mrs__lib_1_1ImagePubliserData" id="mrs__lib_1_1ImagePubliserData">
+<area shape="rect" href="structmrs__lib_1_1ImagePubliserData.html" title=" " alt="" coords="5,5,208,32"/>
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+</td></tr>
+<tr><td><img src="inherit_graph_23.png" border="0" usemap="#mrs__lib_1_1ImagePublisher" alt=""/>
+<map name="mrs__lib_1_1ImagePublisher" id="mrs__lib_1_1ImagePublisher">
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+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_24.png" border="0" usemap="#mrs__lib_1_1Intersection" alt=""/>
+<map name="mrs__lib_1_1Intersection" id="mrs__lib_1_1Intersection">
+<area shape="rect" href="structmrs__lib_1_1Intersection.html" title=" " alt="" coords="5,5,160,32"/>
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+</td></tr>
+<tr><td><img src="inherit_graph_25.png" border="0" usemap="#mrs__lib_1_1KalmanFilter_3_01n__states_00_01n__inputs_00_01n__measurements_01_4" alt=""/>
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+</td></tr>
+<tr><td><img src="inherit_graph_26.png" border="0" usemap="#mrs__lib_1_1KalmanFilter_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1statecov__t" alt=""/>
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+<area shape="rect" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html" title="Helper struct for passing around the state and its covariance in one variable." alt="" coords="5,5,236,61"/>
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+</td></tr>
+<tr><td><img src="inherit_graph_27.png" border="0" usemap="#mrs__lib_1_1KalmanFilterAloamGarm_3_01n__states_00_01n__inputs_00_01n__measurements_01_4" alt=""/>
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+</td></tr>
+<tr><td><img src="inherit_graph_28.png" border="0" usemap="#mrs__lib_1_1KalmanFilterAloamGarm_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1statecov__t" alt=""/>
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+<tr><td><img src="inherit_graph_29.png" border="0" usemap="#mrs__lib_1_1MedianFilter" alt=""/>
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+<tr><td><img src="inherit_graph_31.png" border="0" usemap="#mrs__lib_1_1NotchFilter" alt=""/>
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+<tr><td><img src="inherit_graph_33.png" border="0" usemap="#mrs__lib_1_1ParamProvider" alt=""/>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef JLKF_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define JLKF_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="kalman__filter__aloamgarm_8h.html">mrs_lib/kalman_filter_aloamgarm.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">/* #include &lt;mrs_lib/lkf.h&gt; */</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// for debug</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/Float64ArrayStamped.h&gt;</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/Float64Stamped.h&gt;</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/BoolStamped.h&gt;</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="comment">/* class JLKF */</span> <span class="comment">/*//{*/</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements, <span class="keywordtype">int</span> n_biases&gt;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html">   26</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1JLKF.html">JLKF</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">KalmanFilterAloamGarm</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="comment">/* LKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> n = n_states;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> m = n_inputs;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> p = n_measurements;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">KalmanFilterAloamGarm&lt;n, m, p&gt;</a>;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keyword">using</span> x_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">Base_class::x_t</a>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">using</span> u_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">Base_class::u_t</a>;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keyword">using</span> z_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">Base_class::z_t</a>;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keyword">using</span> P_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">Base_class::P_t</a>;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keyword">using</span> R_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">Base_class::R_t</a>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keyword">using</span> statecov_t = <span class="keyword">typename</span> <a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">Base_class::statecov_t</a>;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">/* using A_t = typename Base_class::A_t;  // measurement mapping p*n */</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">/* using B_t = typename Base_class::B_t;  // process covariance n*n */</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">/* using H_t = typename Base_class::H_t;  // measurement mapping p*n */</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">using</span> Q_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Base_class::Q_t</a>;  <span class="comment">// process covariance n*n</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="comment">/* using K_t = typename Base_class::K_t;  // Kalman gain */</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">   47</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">A_t</a>;  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">   48</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, m&gt; <a class="code" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">B_t</a>;  </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">   49</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, n&gt; <a class="code" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a>;  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">   50</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, p&gt; <a class="code" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a>;  </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">   52</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, p&gt; <a class="code" href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">C_t</a>; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#ac047c1625da963988acfc47edc200a57">   53</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1JLKF.html#ac047c1625da963988acfc47edc200a57">D_t</a>; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">using</span> generateA_t = std::function&lt;<a class="code" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">A_t</a>(<span class="keywordtype">double</span>)&gt;;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">using</span> generateB_t = std::function&lt;<a class="code" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">B_t</a>(<span class="keywordtype">double</span>)&gt;;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html">   65</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html">inverse_exception</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#a1f02bea6207ec02864a693067bcd499f">   72</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#a1f02bea6207ec02864a693067bcd499f">what</a>() <span class="keyword">const</span> throw()</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      {</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keywordflow">return</span> <span class="stringliteral">&quot;LKF: could not compute matrix inversion!!! Fix your covariances (the measurement&#39;s is probably too low...)&quot;</span>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      }</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    };</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">   87</a></span>&#160;    <a class="code" href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">JLKF</a>(<span class="keyword">const</span> generateA_t&amp; generateA, <span class="keyword">const</span> generateB_t&amp; generateB, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1JLKF.html#a7599ec962b434fe92534a58d48cdfacb">H_t</a>&amp; H, <span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; nis_thr,</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;         <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; nis_avg_thr)</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        : m_generateA(generateA),</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          m_generateB(generateB),</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          H(H),</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          m_nh(nh),</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          m_nis_thr(nis_thr),</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          m_nis_avg_thr(nis_avg_thr)</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      debug_nis_pub = m_nh.advertise&lt;mrs_msgs::Float64ArrayStamped&gt;(<span class="stringliteral">&quot;debug_nis&quot;</span>, 1);</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    };</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">/* predict() method //{ */</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">  117</a></span>&#160;    <span class="keyword">virtual</span> statecov_t <a class="code" href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">predict</a>(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> u_t&amp; u, <span class="keyword">const</span> Q_t&amp; Q, <span class="keywordtype">double</span> dt)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="comment">/* std::cout &lt;&lt; &quot;prediction, sc.x: &quot; &lt;&lt; sc.x &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      statecov_t ret;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <a class="code" href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">A_t</a> A = m_generateA(dt);</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <a class="code" href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">B_t</a> B = m_generateB(dt);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      ret.x = state_predict(A, sc.x, B, u);</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      ret.P = covariance_predict(A, sc.P, Q, dt);</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      ret.nis_buffer = sc.nis_buffer;</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    };</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">/* correct() method //{ */</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">  143</a></span>&#160;    <span class="keyword">virtual</span> statecov_t <a class="code" href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">correct</a>(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="comment">/* return correct_optimized(sc, z, R, H); */</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordflow">return</span> correction_impl(sc, z, R, H);</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    };</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">/* invert_W() method //{ */</span></div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">static</span> R_t invert_W(R_t W)</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    {</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      Eigen::ColPivHouseholderQR&lt;R_t&gt; qr(W);</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">if</span> (!qr.isInvertible())</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="comment">// add some stuff to the tmp matrix diagonal to make it invertible</span></div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        R_t ident = R_t::Identity(W.rows(), W.cols());</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        W += 1e-9 * ident;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        qr.compute(W);</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordflow">if</span> (!qr.isInvertible())</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        {</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="comment">// never managed to make this happen except for explicitly putting NaNs in the input</span></div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="keywordflow">throw</span> inverse_exception();</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        }</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      }</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">const</span> R_t W_inv = qr.inverse();</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordflow">return</span> W_inv;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    }</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">/* computeKalmanGain() method //{ */</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a> computeKalmanGain(<span class="keyword">const</span> statecov_t&amp; sc, [[maybe_unused]] <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; H, <span class="keywordtype">double</span>&amp; nis, H_t&amp; H_out,</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                                  <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; nis_thr, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; nis_avg_thr)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      H_out = H;</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      R_t W = H * sc.P * H.transpose() + R;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      R_t W_inv = invert_W(W);</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <a class="code" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a> K = sc.P * H.transpose() * W_inv;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      z_t y = z - (H * sc.x);</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="comment">/* const double nis = (y.transpose() * W_inv * y)(0, 0); */</span></div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      nis = (y.transpose() * W_inv * y)(0, 0);</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keywordtype">double</span> nis_avg = 0;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keywordtype">int</span> count = 0;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordtype">bool</span> nis_over_thr = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordtype">double</span> nis_thr_tmp = nis_thr;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">if</span> (H(0, 0) &gt; 0 &amp;&amp; H(0, 3) != 0)</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="comment">/* if (H(0, 0) &gt; 0) */</span></div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      {</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        mrs_msgs::Float64ArrayStamped msg;</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        msg.header.stamp = sc.stamp;</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        msg.values.push_back(nis);</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordflow">if</span> (sc.nis_buffer != <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        {</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          sc.nis_buffer-&gt;push_back(nis);</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = sc.nis_buffer-&gt;begin(); it != sc.nis_buffer-&gt;end(); it++)</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          {</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            nis_avg += *it;</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            count++;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            <span class="keywordflow">if</span> (*it &gt; nis_thr_tmp)</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            {</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;              nis_thr_tmp /= 10;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            }</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          }</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          <span class="keywordflow">if</span> (count &gt; 0)</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          {</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            nis_avg /= count;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          }</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          msg.values.push_back(nis_avg);</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          msg.values.push_back(nis_thr_tmp);</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        }</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordflow">if</span> (nis &gt; nis_thr_tmp)</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        {</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <span class="comment">// old jump correction</span></div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          K = K.Zero();</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          A_t mask = mask.Zero();</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = n_states - n_biases; i &lt; n_states; i++)</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          {</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            mask(i, i) = 1;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          }</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          <span class="keyword">const</span> H_t H_bias_only = H * mask;</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          K = H_bias_only.transpose() * invert_W(H_bias_only * H_bias_only.transpose());</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          H_out = H_bias_only;</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        debug_nis_pub.publish(msg);</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      }</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <a class="code" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a> test = H.transpose() * invert_W(H * H.transpose());</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordflow">return</span> K;</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    }</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">/* correction_impl() method //{ */</span></div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> check = n&gt;</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keyword">typename</span> std::enable_if&lt;check &gt;= 0, statecov_t&gt;::type correction_impl(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; H)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="comment">// the correction phase</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      statecov_t ret;</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordtype">double</span> nis = -1;</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      H_t H_out;</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a> K = computeKalmanGain(sc, z, R, H, nis, H_out, m_nis_thr, m_nis_avg_thr);</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      ret.x = sc.x + K * (z - (H * sc.x));</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      ret.P = (P_t::Identity() - (K * H_out)) * sc.P;</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      ret.nis_buffer = sc.nis_buffer;</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> check = n&gt;</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keyword">typename</span> std::enable_if &lt; check&lt;0, statecov_t&gt;::type correction_impl(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; H)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="comment">// the correction phase</span></div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      statecov_t ret;</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keywordtype">double</span> nis = -1;</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      H_t H_out;</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">K_t</a> K = computeKalmanGain(sc, z, R, H, nis, H_out, m_nis_thr, m_nis_avg_thr);</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      ret.x = sc.x + K * (z - (H * sc.x));</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      ret.P = (P_t::Identity(sc.P.rows(), sc.P.cols()) - (K * H_out)) * sc.P;</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      ret.nis_buffer = sc.nis_buffer;</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    }</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    ros::NodeHandle m_nh;</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    ros::Publisher debug_nis_pub;</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    std::vector&lt;double&gt; m_nis_window;</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keywordtype">double</span> m_nis_thr;</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordtype">double</span> m_nis_avg_thr;</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    generateA_t m_generateA;</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    generateB_t m_generateB;</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    A_t A;  </div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    B_t B;  </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    H_t H;  </div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="comment">/* covariance_predict() method //{ */</span></div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keyword">static</span> P_t covariance_predict(<span class="keyword">const</span> A_t&amp; A, <span class="keyword">const</span> P_t&amp; P, <span class="keyword">const</span> Q_t&amp; Q, <span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    {</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keywordflow">return</span> A * P * A.transpose() + dt*Q;</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    }</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="comment">/* state_predict() method //{ */</span></div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> check = n_inputs&gt;</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">typename</span> std::enable_if&lt;check == 0, x_t&gt;::type state_predict(<span class="keyword">const</span> A_t&amp; A, <span class="keyword">const</span> x_t&amp; x, [[maybe_unused]] <span class="keyword">const</span> B_t&amp; B,</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                                                                               [[maybe_unused]] <span class="keyword">const</span> u_t&amp; u)</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    {</div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">return</span> A * x;</div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    }</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> check = n_inputs&gt;</div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">typename</span> std::enable_if&lt;check != 0, x_t&gt;::type state_predict(<span class="keyword">const</span> A_t&amp; A, <span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> B_t&amp; B, <span class="keyword">const</span> u_t&amp; u)</div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    {</div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      <span class="keywordflow">return</span> A * x + B * u;</div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    }</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  };  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="comment">/*//}*/</span></div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">#endif  // JLKF_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1JLKF_1_1inverse__exception_html"><div class="ttname"><a href="structmrs__lib_1_1JLKF_1_1inverse__exception.html">mrs_lib::JLKF::inverse_exception</a></div><div class="ttdoc">This exception is thrown when taking the inverse of a matrix fails.</div><div class="ttdef"><b>Definition:</b> jlkf.h:65</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_a20be98f26b355640d078f196f9495fd5"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#a20be98f26b355640d078f196f9495fd5">mrs_lib::JLKF::K_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, p &gt; K_t</div><div class="ttdoc">Kalman gain matrix type .</div><div class="ttdef"><b>Definition:</b> jlkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ab6bf1e91bfeb633b08038f54b2b5d0fa"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">mrs_lib::KalmanFilterAloamGarm::R_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_a72ceb375903022d0dfc396b6f1ead479"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#a72ceb375903022d0dfc396b6f1ead479">mrs_lib::JLKF::A_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> jlkf.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ab9efcd795fc6c47ef94c20f9ff9547dc"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">mrs_lib::KalmanFilterAloamGarm::Q_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:41</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_acb856c6a2d7378bc6abd46af99efe580"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#acb856c6a2d7378bc6abd46af99efe580">mrs_lib::JLKF::predict</a></div><div class="ttdeci">virtual statecov_t predict(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</div><div class="ttdoc">Applies the prediction (time) step of the Kalman filter.</div><div class="ttdef"><b>Definition:</b> jlkf.h:117</div></div>
+<div class="ttc" id="astructmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t_html"><div class="ttname"><a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm::statecov_t</a></div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm</a></div><div class="ttdoc">This abstract class defines common interfaces and types for a generic Kalman filter.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:27</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ae680d65b40883e1678e0365ed3924c16"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">mrs_lib::KalmanFilterAloamGarm::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, m, 1 &gt; u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_ac8971eebc826cd62aadd45d4b64d216c"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#ac8971eebc826cd62aadd45d4b64d216c">mrs_lib::JLKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> jlkf.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF</a></div><div class="ttdef"><b>Definition:</b> jlkf.h:26</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_a0c21f3599fe8ccfb1164ee204a0ae606"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#a0c21f3599fe8ccfb1164ee204a0ae606">mrs_lib::JLKF::JLKF</a></div><div class="ttdeci">JLKF(const generateA_t &amp;generateA, const generateB_t &amp;generateB, const H_t &amp;H, const ros::NodeHandle &amp;nh, const double &amp;nis_thr, const double &amp;nis_avg_thr)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> jlkf.h:87</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_a6aa1475ecb42a4ee97e8d7e93cb5c523"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#a6aa1475ecb42a4ee97e8d7e93cb5c523">mrs_lib::JLKF::correct</a></div><div class="ttdeci">virtual statecov_t correct(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</div><div class="ttdoc">Applies the correction (update, measurement, data) step of the Kalman filter.</div><div class="ttdef"><b>Definition:</b> jlkf.h:143</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1JLKF_html_af34d34f55cb8804bd4e873a16c9e9a08"><div class="ttname"><a href="classmrs__lib_1_1JLKF.html#af34d34f55cb8804bd4e873a16c9e9a08">mrs_lib::JLKF::C_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; C_t</div><div class="ttdoc">correntropy gain</div><div class="ttdef"><b>Definition:</b> jlkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a9b8488ef81812059a366fcc2e92e04f6"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">mrs_lib::KalmanFilterAloamGarm::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:39</div></div>
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n=C.setTimeout(e,r);t.stop=function(){C.clearTimeout(n)}})},ot=E.createElement("input"),at=E.createElement("select").appendChild(E.createElement("option")),ot.type="checkbox",y.checkOn=""!==ot.value,y.optSelected=at.selected,(ot=E.createElement("input")).value="t",ot.type="radio",y.radioValue="t"===ot.value;var ht,gt=k.expr.attrHandle;k.fn.extend({attr:function(e,t){return _(this,k.attr,e,t,1<arguments.length)},removeAttr:function(e){return this.each(function(){k.removeAttr(this,e)})}}),k.extend({attr:function(e,t,n){var r,i,o=e.nodeType;if(3!==o&&8!==o&&2!==o)return"undefined"==typeof e.getAttribute?k.prop(e,t,n):(1===o&&k.isXMLDoc(e)||(i=k.attrHooks[t.toLowerCase()]||(k.expr.match.bool.test(t)?ht:void 0)),void 0!==n?null===n?void k.removeAttr(e,t):i&&"set"in i&&void 0!==(r=i.set(e,n,t))?r:(e.setAttribute(t,n+""),n):i&&"get"in i&&null!==(r=i.get(e,t))?r:null==(r=k.find.attr(e,t))?void 0:r)},attrHooks:{type:{set:function(e,t){if(!y.radioValue&&"radio"===t&&A(e,"input")){var 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i,o,a,s,u,l,c,f,p=[n||E],d=v.call(e,"type")?e.type:e,h=v.call(e,"namespace")?e.namespace.split("."):[];if(o=f=a=n=n||E,3!==n.nodeType&&8!==n.nodeType&&!Tt.test(d+k.event.triggered)&&(-1<d.indexOf(".")&&(d=(h=d.split(".")).shift(),h.sort()),u=d.indexOf(":")<0&&"on"+d,(e=e[k.expando]?e:new k.Event(d,"object"==typeof e&&e)).isTrigger=r?2:3,e.namespace=h.join("."),e.rnamespace=e.namespace?new RegExp("(^|\\.)"+h.join("\\.(?:.*\\.|)")+"(\\.|$)"):null,e.result=void 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+* Copyright jQuery Foundation and other contributors; Licensed MIT */
+
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s=t(this).resizable("instance"),n=s.options,o=s.originalSize,a=s.originalPosition,r={height:s.size.height-o.height||0,width:s.size.width-o.width||0,top:s.position.top-a.top||0,left:s.position.left-a.left||0};t(n.alsoResize).each(function(){var e=t(this),s=t(this).data("ui-resizable-alsoresize"),n={},o=e.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];t.each(o,function(t,e){var i=(s[e]||0)+(r[e]||0);i&&i>=0&&(n[e]=i||null)}),e.css(n)})},stop:function(){t(this).removeData("ui-resizable-alsoresize")}}),t.ui.plugin.add("resizable","ghost",{start:function(){var e=t(this).resizable("instance"),i=e.size;e.ghost=e.originalElement.clone(),e.ghost.css({opacity:.25,display:"block",position:"relative",height:i.height,width:i.width,margin:0,left:0,top:0}),e._addClass(e.ghost,"ui-resizable-ghost"),t.uiBackCompat!==!1&&"string"==typeof e.options.ghost&&e.ghost.addClass(this.options.ghost),e.ghost.appendTo(e.helper)},resize:function(){var 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+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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+<div class="title">kalman_filter.h File Reference</div>  </div>
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+<p>Defines KalmanFilter - an abstract class, defining common interfaces and types for a generic Kalman filter.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This abstract class defines common interfaces and types for a generic Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#details">More...</a><br /></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">mrs_lib::KalmanFilter&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable.  <a href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines KalmanFilter - an abstract class, defining common interfaces and types for a generic Kalman filter. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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diff --git a/kalman__filter_8h__incl.md5 b/kalman__filter_8h__incl.md5
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">kalman_filter.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="kalman__filter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef SYSTEMMODEL_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define SYSTEMMODEL_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="comment">/* KalmanFilter virtual class //{ */</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html">   26</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <span class="comment">/* states, inputs etc. definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">   30</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a33bade5cb8e189919bd7c5c7d81a75fd">n</a> = n_states;            </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">   31</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a472b37319b5dabb8cd4e4146bd86b8bf">m</a> = n_inputs;            </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">   32</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a72ed6c241094ce2b25fca0a97679a4c7">p</a> = n_measurements;      </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">   34</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, 1&gt; <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>;  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">   35</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, m, 1&gt; <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>;  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">   36</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, 1&gt; <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>;  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">   38</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>;  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">   39</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, p&gt; <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>;  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">   40</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>;  </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="comment">//}</span></div>
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+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="comment">/* statecov_t struct //{ */</span></div>
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+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#aa2747c6fd07bc3a4d9b2c153e38c11ff">   50</a></span>&#160;        <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> <a class="code" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#aa2747c6fd07bc3a4d9b2c153e38c11ff">P</a>;  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#ab576efb895b5def90a7aab738c610f83">   51</a></span>&#160;        ros::Time <a class="code" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html#ab576efb895b5def90a7aab738c610f83">stamp</a> = ros::Time(0); </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      };</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="comment">//}</span></div>
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+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">kalman_filter_aloamgarm.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines KalmanFilter - an abstract class, defining common interfaces and types for a generic Kalman filter.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;boost/circular_buffer.hpp&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for kalman_filter_aloamgarm.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="kalman__filter__aloamgarm_8h__incl.png" border="0" usemap="#include_2mrs__lib_2kalman__filter__aloamgarm_8h" alt=""/></div>
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+<p><a href="kalman__filter__aloamgarm_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This abstract class defines common interfaces and types for a generic Kalman filter.  <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper struct for passing around the state and its covariance in one variable.  <a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines KalmanFilter - an abstract class, defining common interfaces and types for a generic Kalman filter. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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+<div class="title">kalman_filter_aloamgarm.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="kalman__filter__aloamgarm_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef SYSTEMMODELALOAMGARM_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define SYSTEMMODELALOAMGARM_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;boost/circular_buffer.hpp&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">/* KalmanFilter virtual class //{ */</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">   27</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">KalmanFilterAloamGarm</a></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      <span class="comment">/* states, inputs etc. definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">   31</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">n</a> = n_states;            </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">   32</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">m</a> = n_inputs;            </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">   33</a></span>&#160;      <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">p</a> = n_measurements;      </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">   35</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, 1&gt; <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">x_t</a>;  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">   36</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, m, 1&gt; <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">u_t</a>;  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">   37</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, 1&gt; <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">z_t</a>;  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">   39</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">P_t</a>;  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">   40</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, p&gt; <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">R_t</a>;  </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">   41</a></span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, n&gt; <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">Q_t</a>;  </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="comment">/* statecov_t struct //{ */</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">   48</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a></div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      {</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">   50</a></span>&#160;        <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">x_t</a> <a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">x</a>;  </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">   51</a></span>&#160;        <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">P_t</a> <a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">P</a>;  </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        std::shared_ptr&lt;boost::circular_buffer&lt;double&gt;&gt; nis_buffer = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;        ros::Time stamp = ros::Time(0);</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        <span class="keywordtype">bool</span> measurement_jumped = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a>&amp; operator=(<a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> other)</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        {</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;          <span class="keywordflow">if</span> (<span class="keyword">this</span> != &amp;other) <span class="comment">// not a self-assignment</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;          {</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">x</a> = other.<a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">x</a>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            <a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">P</a> = other.<a class="code" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">P</a>;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            stamp = other.stamp;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;            <span class="keywordflow">if</span> (other.nis_buffer != <span class="keyword">nullptr</span>){</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;              nis_buffer = std::make_shared&lt;boost::circular_buffer&lt;double&gt;&gt;(*other.nis_buffer);</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            }</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            measurement_jumped = other.measurement_jumped;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        }</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      };</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">virtual</span> statecov_t <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">correct</a>(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R) <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">virtual</span> statecov_t <a class="code" href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">predict</a>(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> u_t&amp; u, <span class="keyword">const</span> Q_t&amp; Q, <span class="keywordtype">double</span> dt) <span class="keyword">const</span> = 0;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  };</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="preprocessor">#endif // SYSTEMMODELALOAMGARM_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a7b9714f54a6ec03679cf3af571e4219a"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a7b9714f54a6ec03679cf3af571e4219a">mrs_lib::KalmanFilterAloamGarm::n</a></div><div class="ttdeci">static const int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:31</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_aade8833d5835d0ee12be558e16fe595a"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#aade8833d5835d0ee12be558e16fe595a">mrs_lib::KalmanFilterAloamGarm::p</a></div><div class="ttdeci">static const int p</div><div class="ttdoc">Length of the measurement vector of the system.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:33</div></div>
+<div class="ttc" id="astructmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t_html_a78cb90ec0a35a04f7f4abe69847979ec"><div class="ttname"><a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">mrs_lib::KalmanFilterAloamGarm::statecov_t::x</a></div><div class="ttdeci">x_t x</div><div class="ttdoc">State vector.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a139f8d4f64e9e45ca68b9141ecae8c99"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a139f8d4f64e9e45ca68b9141ecae8c99">mrs_lib::KalmanFilterAloamGarm::predict</a></div><div class="ttdeci">virtual statecov_t predict(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const =0</div><div class="ttdoc">Applies the prediction (time) step of the Kalman filter.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ab6bf1e91bfeb633b08038f54b2b5d0fa"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab6bf1e91bfeb633b08038f54b2b5d0fa">mrs_lib::KalmanFilterAloamGarm::R_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ab9efcd795fc6c47ef94c20f9ff9547dc"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ab9efcd795fc6c47ef94c20f9ff9547dc">mrs_lib::KalmanFilterAloamGarm::Q_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:41</div></div>
+<div class="ttc" id="astructmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t_html"><div class="ttname"><a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm::statecov_t</a></div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html">mrs_lib::KalmanFilterAloamGarm</a></div><div class="ttdoc">This abstract class defines common interfaces and types for a generic Kalman filter.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:27</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ae680d65b40883e1678e0365ed3924c16"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae680d65b40883e1678e0365ed3924c16">mrs_lib::KalmanFilterAloamGarm::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, m, 1 &gt; u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a3e541e3ec53df99c77f8cc7031728d6f"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a3e541e3ec53df99c77f8cc7031728d6f">mrs_lib::KalmanFilterAloamGarm::correct</a></div><div class="ttdeci">virtual statecov_t correct(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const =0</div><div class="ttdoc">Applies the correction (update, measurement, data) step of the Kalman filter.</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_ae7fc4baaa223bf1ccebebc20c4b02bcc"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#ae7fc4baaa223bf1ccebebc20c4b02bcc">mrs_lib::KalmanFilterAloamGarm::z_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, 1 &gt; z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:37</div></div>
+<div class="ttc" id="astructmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t_html_a876ae3c9d4dafac63ddd0723fe351874"><div class="ttname"><a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">mrs_lib::KalmanFilterAloamGarm::statecov_t::P</a></div><div class="ttdeci">P_t P</div><div class="ttdoc">State covariance matrix.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a9b8488ef81812059a366fcc2e92e04f6"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a9b8488ef81812059a366fcc2e92e04f6">mrs_lib::KalmanFilterAloamGarm::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a336bd0445bfa4ca091dda05d0f83757b"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a336bd0445bfa4ca091dda05d0f83757b">mrs_lib::KalmanFilterAloamGarm::m</a></div><div class="ttdeci">static const int m</div><div class="ttdoc">Length of the input vector of the system.</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:32</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilterAloamGarm_html_a0e19e15226a8e251452cd486153fba12"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#a0e19e15226a8e251452cd486153fba12">mrs_lib::KalmanFilterAloamGarm::x_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, 1 &gt; x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter_aloamgarm.h:35</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">line_operations.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: TomasFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#ifndef MRS_LIB_LINE_OPERATIONS_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#define MRS_LIB_LINE_OPERATIONS_H</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Eigen&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1Intersection.html">    9</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1Intersection.html">Intersection</a></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;{</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  Eigen::RowVector2d point;</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="keywordtype">bool</span>               parallel;</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <span class="keywordtype">bool</span>               intersect;</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">explicit</span> <a class="code" href="structmrs__lib_1_1Intersection.html">Intersection</a>(<span class="keywordtype">bool</span> intersect, <span class="keywordtype">bool</span> parallel = <span class="keyword">false</span>, Eigen::RowVector2d point = Eigen::RowVector2d{});</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;};</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<a class="code" href="structmrs__lib_1_1Intersection.html">Intersection</a> sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2);</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="astructmrs__lib_1_1Intersection_html"><div class="ttname"><a href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a></div><div class="ttdef"><b>Definition:</b> line_operations.h:9</div></div>
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diff --git a/lkf_2example_8cpp-example.html b/lkf_2example_8cpp-example.html
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+<title>mrs_lib: lkf/example.cpp</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
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+</table>
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+<div class="title">lkf/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> lkf_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the LKF header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mrs_lib/lkf.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Define the LKF we will be using</span></div>
+<div class="line"><span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_states = 4;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_inputs = 2;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_measurements = 2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">using</span> lkf_t = LKF&lt;n_states, n_inputs, n_measurements&gt;;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Some helpful aliases to make writing of types shorter</span></div>
+<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a>;</div>
+<div class="line"><span class="keyword">using</span> A_t = <a name="a0"></a><a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">lkf_t::A_t</a>;</div>
+<div class="line"><span class="keyword">using</span> B_t = <a name="a1"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">lkf_t::B_t</a>;</div>
+<div class="line"><span class="keyword">using</span> H_t = <a name="a2"></a><a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">lkf_t::H_t</a>;</div>
+<div class="line"><span class="keyword">using</span> Q_t = <a name="a3"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">lkf_t::Q_t</a>;</div>
+<div class="line"><span class="keyword">using</span> x_t = <a name="a4"></a><a class="code" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">lkf_t::x_t</a>;</div>
+<div class="line"><span class="keyword">using</span> P_t = <a name="a5"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">lkf_t::P_t</a>;</div>
+<div class="line"><span class="keyword">using</span> u_t = <a name="a6"></a><a class="code" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">lkf_t::u_t</a>;</div>
+<div class="line"><span class="keyword">using</span> z_t = <a name="a7"></a><a class="code" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">lkf_t::z_t</a>;</div>
+<div class="line"><span class="keyword">using</span> R_t = <a name="a8"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">lkf_t::R_t</a>;</div>
+<div class="line"><span class="keyword">using</span> statecov_t = <a name="a9"></a><a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">lkf_t::statecov_t</a>;</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Some helper enums to make the code more readable</span></div>
+<div class="line"><span class="keyword">enum</span> x_pos</div>
+<div class="line">{</div>
+<div class="line">  x_x = 0,</div>
+<div class="line">  x_y = 1,</div>
+<div class="line">  x_dx = 2,</div>
+<div class="line">  x_dy = 3,</div>
+<div class="line">};</div>
+<div class="line"><span class="keyword">enum</span> u_pos</div>
+<div class="line">{</div>
+<div class="line">  u_dx = 0,</div>
+<div class="line">  u_dy = 0,</div>
+<div class="line">};</div>
+<div class="line"><span class="keyword">enum</span> z_pos</div>
+<div class="line">{</div>
+<div class="line">  z_x = 0,</div>
+<div class="line">  z_y = 1,</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line">A_t A;</div>
+<div class="line">B_t B;</div>
+<div class="line">H_t H;</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// This function implements the state transition</span></div>
+<div class="line"><span class="keyword">const</span> <span class="keywordtype">double</span> speed = 0.3;</div>
+<div class="line">x_t tra_model_f(<span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> u_t&amp; u, [[maybe_unused]] <span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line">{</div>
+<div class="line">  <span class="keywordflow">return</span> A*x + B*u;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// This function implements the observation generation from a state</span></div>
+<div class="line">z_t obs_model_f(<span class="keyword">const</span> x_t&amp; x)</div>
+<div class="line">{</div>
+<div class="line">  <span class="keywordflow">return</span> H*x;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Helper function to generate a random Eigen matrix with normal distribution</span></div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keywordtype">int</span> rows&gt;</div>
+<div class="line">Eigen::Matrix&lt;double, rows, 1&gt; normal_randmat(<span class="keyword">const</span> Eigen::Matrix&lt;double, rows, rows&gt;&amp; cov)</div>
+<div class="line">{</div>
+<div class="line">    <span class="keyword">static</span> std::random_device rd{};</div>
+<div class="line">    <span class="keyword">static</span> std::mt19937 gen{rd()};</div>
+<div class="line">    <span class="keyword">static</span> std::normal_distribution&lt;&gt; d{0,1};</div>
+<div class="line">    Eigen::Matrix&lt;double, rows, 1&gt; ret;</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; rows; row++)</div>
+<div class="line">      ret(row, 0) = d(gen);</div>
+<div class="line">    <span class="keywordflow">return</span> cov*ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main()</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">// dt will be constant in this example</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> dt = 1.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the state transition matrix</span></div>
+<div class="line">  A &lt;&lt; </div>
+<div class="line">    1, 0, dt, 0,</div>
+<div class="line">    0, 1, 0, dt,</div>
+<div class="line">    0, 0, 1, 0,</div>
+<div class="line">    0, 0, 0, 1;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the input to state mapping matrix</span></div>
+<div class="line">  B &lt;&lt; </div>
+<div class="line">    0, 0,</div>
+<div class="line">    0, 0,</div>
+<div class="line">    1, 0,</div>
+<div class="line">    0, 1;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the state to measurement mapping matrix</span></div>
+<div class="line">  H &lt;&lt; </div>
+<div class="line">    1, 0, 0, 0,</div>
+<div class="line">    0, 1, 0, 0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the process noise matrix</span></div>
+<div class="line">  Q_t Q; Q &lt;&lt; </div>
+<div class="line">    1e-3, 0, 0, 0,</div>
+<div class="line">    0, 1e-3, 0, 0,</div>
+<div class="line">    0, 0, 1e-2, 0,</div>
+<div class="line">    0, 0, 0, 1e-2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the measurement noise matrix</span></div>
+<div class="line">  R_t R; R &lt;&lt;</div>
+<div class="line">    1e-2, 0,</div>
+<div class="line">    0, 1e-2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Generate initial state and covariance</span></div>
+<div class="line">  <span class="keyword">const</span> x_t x0 = 100.0*x_t::Random();</div>
+<div class="line">  P_t P_tmp = P_t::Random();</div>
+<div class="line">  <span class="keyword">const</span> P_t P0 = 10.0*P_tmp*P_tmp.transpose();</div>
+<div class="line">  <span class="keyword">const</span> statecov_t sc0({x0, P0});</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Instantiate the LKF itself</span></div>
+<div class="line">  <a name="_a10"></a><a class="code" href="classmrs__lib_1_1LKF.html">lkf_t</a> lkf(A, B, H);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_its = 1e4;</div>
+<div class="line">  <span class="comment">// Prepare the ground-truth state and the estimated state and covariance</span></div>
+<div class="line">  x_t x_gt = sc0.x;</div>
+<div class="line">  statecov_t sc_est = sc0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n_its; it++)</div>
+<div class="line">  {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;step: &quot;</span> &lt;&lt; it &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Generate a new input vector</span></div>
+<div class="line">    <span class="keyword">const</span> u_t u = u_t::Random();</div>
+<div class="line">    </div>
+<div class="line">    <span class="comment">// Generate a new state according to the model and noise parameters</span></div>
+<div class="line">    x_gt = tra_model_f(x_gt, u, dt) + normal_randmat(Q);</div>
+<div class="line">    </div>
+<div class="line">    <span class="comment">// Generate a new observation according to the model and noise parameters</span></div>
+<div class="line">    <span class="keyword">const</span> z_t z = obs_model_f(x_gt) + normal_randmat(R);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// There should be a try-catch here to prevent program crashes</span></div>
+<div class="line">    <span class="comment">// in case of numerical instabilities (which are possible with UKF)</span></div>
+<div class="line">    <span class="keywordflow">try</span></div>
+<div class="line">    {</div>
+<div class="line">      <span class="comment">// Apply the prediction step</span></div>
+<div class="line">      sc_est = lkf.predict(sc_est, u, Q, dt);</div>
+<div class="line">      </div>
+<div class="line">      <span class="comment">// Apply the correction step</span></div>
+<div class="line">      sc_est = lkf.correct(sc_est, z, R);</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line">    {</div>
+<div class="line">      <span class="comment">// In case of error, alert the user</span></div>
+<div class="line">      ROS_ERROR(<span class="stringliteral">&quot;LKF failed: %s&quot;</span>, e.what());</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> error = (x_gt-sc_est.x).norm();</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current LKF estimation error is: &quot;</span> &lt;&lt; error &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current ground-truth state is:  &quot;</span> &lt;&lt; x_gt.transpose() &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current LKF estimated state is: &quot;</span> &lt;&lt; sc_est.x.transpose() &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current LKF state covariance is:&quot;</span> &lt;&lt; std::endl &lt;&lt; sc_est.P &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5df2fd299b9da75a872e8d9194da1ca9"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a78733a13f277480c5c8c42228d440df7"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF::H_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, n &gt; H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:57</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d5cee075e30da36ffb946cffcfca688"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a54b2b4a3932510daad92da5a2b1274c1"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> lkf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d2cb5ed042b660f1a44bdb9f4d2612f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5ca7805e401bd7b718b510269a6ce7bf"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:56</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_abfad09fe2386fb87eaea7b4dd8b24409"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:47</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_aa5c83985c5c7685ebe2af0e445fbc0ad"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF::A_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:55</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html"><div class="ttname"><a href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a></div><div class="ttdoc">Implementation of the Linear Kalman filter .</div><div class="ttdef"><b>Definition:</b> lkf.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_af4318056f5e0c024651bb882b60ec640"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">mrs_lib::LKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a98e130a3d14cd93b01b0b942de8af10c"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">mrs_lib::LKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:48</div></div>
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">example.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Example file for the LKF implementation.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;mrs_lib/lkf.h&gt;</code><br />
+<code>#include &lt;random&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for example.cpp:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+z_t&#160;</td><td class="memItemRight" valign="bottom"><b>obs_model_f</b> (const x_t &amp;x)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the LKF implementation. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> lkf_example</code>.</p>
+<p>See <a class="el" href="lkf_2example_8cpp-example.html">lkf/example.cpp</a>. </p>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
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diff --git a/lkf_2example_8cpp.js b/lkf_2example_8cpp.js
new file mode 100644
index 00000000..a5830f19
--- /dev/null
+++ b/lkf_2example_8cpp.js
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="header">
+  <div class="headertitle">
+<div class="title">lkf.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef LKFSYSTEMMODELS_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define LKFSYSTEMMODELS_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="kalman__filter_8h.html">mrs_lib/kalman_filter.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="comment">/* class LKF //{ */</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html">   38</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1LKF.html">LKF</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  {</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="comment">/* LKF definitions (typedefs, constants etc) //{ */</span></div>
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+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">   44</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">p</a> = n_measurements;      </div>
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+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">   49</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">Base_class::z_t</a>;                </div>
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+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">   52</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Base_class::Q_t</a>;                </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">   53</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> = <span class="keyword">typename</span> <a class="code" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">Base_class::statecov_t</a>;  </div>
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+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">   56</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, m&gt; <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>;  </div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">   57</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, p, n&gt; <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>;  </div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">   58</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, n, p&gt; <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a>;  </div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1LKF_1_1inverse__exception.html">   66</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1LKF_1_1inverse__exception.html">inverse_exception</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    {</div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1LKF_1_1inverse__exception.html#a44d325f6cd975003b995d33bd78948ac">   73</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="structmrs__lib_1_1LKF_1_1inverse__exception.html#a44d325f6cd975003b995d33bd78948ac">what</a>() <span class="keyword">const</span> throw()</div>
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+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordflow">return</span> <span class="stringliteral">&quot;LKF: could not compute matrix inversion!!! Fix your covariances (the measurement&#39;s is probably too low...)&quot;</span>;</div>
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+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    };</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">   87</a></span>&#160;    <a class="code" href="classmrs__lib_1_1LKF.html#aecd505e79c0102609c9e5ffbd91a7cc3">LKF</a>(){};</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">   96</a></span>&#160;    <a class="code" href="classmrs__lib_1_1LKF.html#a8bb9eee4045a176b56c28bc7e0113fa0">LKF</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>) : <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>), <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>), <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>){};</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">/* correct() method //{ */</span></div>
+<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">  111</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> <a class="code" href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">correct</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&amp; R)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="comment">/* return correct_optimized(sc, z, R, H); */</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordflow">return</span> correction_impl(sc, z, R, <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>);</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    };</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">/* predict() method //{ */</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">  138</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> <a class="code" href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">predict</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, [[maybe_unused]] <span class="keywordtype">double</span> dt)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> ret;</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      ret.x = state_predict(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, sc.x, <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, u);</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      ret.P = covariance_predict(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, sc.P, Q, dt);</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">  144</a></span>&#160;    };</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    A_t <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>;  </div>
+<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">  149</a></span>&#160;    <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>;  </div>
+<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">  150</a></span>&#160;    <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>;  </div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">/* covariance_predict() method //{ */</span></div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">static</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> covariance_predict(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&amp; P, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, <span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a> * P * <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>.transpose() + dt*Q;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    }</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">/* state_predict() method //{ */</span></div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> check = n_inputs&gt;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">typename</span> std::enable_if&lt;check == 0, x_t&gt;::type state_predict(<span class="keyword">const</span> A_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> x_t&amp; x, [[maybe_unused]] <span class="keyword">const</span> B_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>,</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                                                                               [[maybe_unused]] <span class="keyword">const</span> u_t&amp; u)</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    {</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a> * x;</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> check = n_inputs&gt;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keyword">typename</span> std::enable_if&lt;check != 0, x_t&gt;::type state_predict(<span class="keyword">const</span> A_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> B_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <span class="keyword">const</span> u_t&amp; u)</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    {</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a> * x + <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a> * u;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    }</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">/* invert_W() method //{ */</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">static</span> R_t invert_W(R_t W)</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    {</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      Eigen::ColPivHouseholderQR&lt;R_t&gt; qr(W);</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordflow">if</span> (!qr.isInvertible())</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      {</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="comment">// add some stuff to the tmp matrix diagonal to make it invertible</span></div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        R_t ident = R_t::Identity(W.rows(), W.cols());</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        W += 1e-9 * ident;</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        qr.compute(W);</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordflow">if</span> (!qr.isInvertible())</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        {</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;          <span class="comment">// never managed to make this happen except for explicitly putting NaNs in the input</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">throw</span> inverse_exception();</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        }</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      }</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">const</span> R_t W_inv = qr.inverse();</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordflow">return</span> W_inv;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    }</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">/* computeKalmanGain() method //{ */</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> computeKalmanGain(<span class="keyword">const</span> statecov_t&amp; sc, [[maybe_unused]] <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="comment">// calculation of the kalman gain K</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">const</span> R_t W = <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> * sc.P * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() + R;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">const</span> R_t W_inv = invert_W(W);</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> K = sc.P * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() * W_inv;</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keywordflow">return</span> K;</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="comment">/* correction_impl() method //{ */</span></div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> check=n&gt;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keyword">typename</span> std::enable_if&lt;check &gt;= 0, statecov_t&gt;::type correction_impl(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="comment">// the correction phase</span></div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      statecov_t ret;</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> K = computeKalmanGain(sc, z, R, <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>);</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      ret.x = sc.x + K * (z - (<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> * sc.x));</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      ret.P = (P_t::Identity() - (K * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)) * sc.P;</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> check=n&gt;</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keyword">typename</span> std::enable_if&lt;check &lt; 0, statecov_t&gt;::type correction_impl(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="comment">// the correction phase</span></div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      statecov_t ret;</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> K = computeKalmanGain(sc, z, R, <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>);</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      ret.x = sc.x + K * (z - (<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> * sc.x));</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      ret.P = (P_t::Identity(sc.P.rows(), sc.P.cols()) - (K * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)) * sc.P;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    }</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="comment">// NOT USED METHODS</span></div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="comment">/* correction_optimized() method //{ */</span></div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">// No notable performance gain was observed for the matrix sizes we use, so this is not used.</span></div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keyword">static</span> statecov_t correction_optimized(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    {</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      statecov_t ret = sc;</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">const</span> H_t <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>*sc.P.transpose());</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> K((<a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>*<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() + R).ldlt().solve(<a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>).transpose());</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      ret.x.noalias() += K*(z - <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>*sc.x);</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      ret.P.noalias() -= K*<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>*sc.P;</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="comment">/* static statecov_t correction_optimized(const statecov_t&amp; sc, const z_t&amp; z, const R_t&amp; R, const H_t&amp; H) */</span></div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="comment">/* { */</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="comment">/*   statecov_t ret; */</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">/*   const H_t B = H*sc.P.transpose(); */</span></div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="comment">/*   const K_t K = (B*H.transpose() + R).partialPivLu().solve(B).transpose(); */</span></div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="comment">/*   ret.x = sc.x + K*(z - H*sc.x); */</span></div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="comment">/*   ret.P = sc.P - K*H*sc.P; */</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="comment">/*   return ret; */</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="comment">/* } */</span></div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  };</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="comment">/* class dtMatrixLKF //{ */</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1varstepLKF.html">  260</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1varstepLKF.html">varstepLKF</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1LKF.html">LKF</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  {</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="comment">/* LKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> n = n_states;</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> m = n_inputs;</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> p = n_measurements;</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1LKF.html">LKF&lt;n, m, p&gt;</a>;</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">Base_class::x_t</a>;</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">Base_class::u_t</a>;</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">Base_class::z_t</a>;</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">Base_class::P_t</a>;</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">Base_class::R_t</a>;</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">Base_class::statecov_t</a>;</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">Base_class::A_t</a>;  <span class="comment">// measurement mapping p*n</span></div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">Base_class::B_t</a>;  <span class="comment">// process covariance n*n</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">Base_class::H_t</a>;  <span class="comment">// measurement mapping p*n</span></div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">Base_class::Q_t</a>;  <span class="comment">// process covariance n*n</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">using</span> generateA_t = std::function&lt;<a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>(<span class="keywordtype">double</span>)&gt;;</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keyword">using</span> generateB_t = std::function&lt;<a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>(<span class="keywordtype">double</span>)&gt;;</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
+<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">  293</a></span>&#160;    <a class="code" href="classmrs__lib_1_1varstepLKF.html#afe2d9f3643f3f8e4c82879384a4a5eea">varstepLKF</a>(<span class="keyword">const</span> generateA_t&amp; generateA, <span class="keyword">const</span> generateB_t&amp; generateB, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      : m_generateA(generateA), m_generateB(generateB)</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    {</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">Base_class::H</a> = <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>;</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    };</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="comment">/* predict() method //{ */</span></div>
+<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">  316</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> <a class="code" href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">predict</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, <span class="keywordtype">double</span> dt)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> ret;</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a> = m_generateA(dt);</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a> = m_generateB(dt);</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      ret.x = Base_class::state_predict(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, sc.x, <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, u);</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      ret.P = Base_class::covariance_predict(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, sc.P, Q, dt);</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    };</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    </div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    generateA_t m_generateA;</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    generateB_t m_generateB;</div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  };</div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="comment">/* class LKF_MRS_odom //{ */</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1LKF__MRS__odom.html">  334</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1LKF__MRS__odom.html">LKF_MRS_odom</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1LKF.html">LKF</a>&lt;3, 1, 1&gt;</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  {</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="comment">/* LKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> n = 3;</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> m = 1;</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> p = 1;</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1LKF.html">LKF&lt;n, m, p&gt;</a>;</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">Base_class::x_t</a>;</div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">Base_class::u_t</a>;</div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">Base_class::z_t</a>;</div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">Base_class::P_t</a>;</div>
+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">Base_class::R_t</a>;</div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keyword">using</span> statecov_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">Base_class::statecov_t</a>;</div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keyword">using</span> A_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">Base_class::A_t</a>;  <span class="comment">// measurement mapping p*n</span></div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keyword">using</span> B_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">Base_class::B_t</a>;  <span class="comment">// process covariance n*n</span></div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keyword">using</span> H_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">Base_class::H_t</a>;  <span class="comment">// measurement mapping p*n</span></div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">Base_class::Q_t</a>;  <span class="comment">// process covariance n*n</span></div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keyword">using</span> coeff_A_t = A_t;                            <span class="comment">// matrix of constant coefficients in matrix A</span></div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;unsigned, n, n&gt; dtexp_A_t;  <span class="comment">// matrix of dt exponents in matrix A</span></div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keyword">using</span> coeff_B_t = B_t;                            <span class="comment">// matrix of constant coefficients in matrix B</span></div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;unsigned, n, m&gt; dtexp_B_t;  <span class="comment">// matrix of dt exponents in matrix B</span></div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <a class="code" href="classmrs__lib_1_1LKF__MRS__odom.html">LKF_MRS_odom</a>(<span class="keyword">const</span> std::vector&lt;H_t&gt;&amp; Hs, <span class="keyword">const</span> <span class="keywordtype">double</span> default_dt = 1);</div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keyword">virtual</span> statecov_t predict(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, <span class="keywordtype">double</span> dt) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keyword">virtual</span> statecov_t correct(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&amp; R, <span class="keywordtype">int</span> param = 0) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> state_predict_optimized(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>&amp; x_prev, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp; u, <span class="keywordtype">double</span> dt) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> covariance_predict_optimized(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&amp; P, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, <span class="keywordtype">double</span> dt) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
+<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    std::vector&lt;H_t&gt; m_Hs;</div>
+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  };</div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
+<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
+<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="preprocessor">#endif // LKFSYSTEMMODELS_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5df2fd299b9da75a872e8d9194da1ca9"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a87db95f28f4834e801cd7fbd0e98e388"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a87db95f28f4834e801cd7fbd0e98e388">mrs_lib::LKF::p</a></div><div class="ttdeci">static constexpr int p</div><div class="ttdoc">Length of the measurement vector of the system.</div><div class="ttdef"><b>Definition:</b> lkf.h:44</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a78733a13f277480c5c8c42228d440df7"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF::H_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, n &gt; H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:57</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d5cee075e30da36ffb946cffcfca688"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a552fedb99ce43148c212c809dcd8191f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">mrs_lib::LKF::H</a></div><div class="ttdeci">H_t H</div><div class="ttdoc">The state to measurement mapping matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:150</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a54b2b4a3932510daad92da5a2b1274c1"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF&lt; 3, 1, 1 &gt;::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> lkf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d2cb5ed042b660f1a44bdb9f4d2612f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a1e4c8aa79cfcea707876d85950132450"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">mrs_lib::KalmanFilter::R_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1varstepLKF_html_ac1f671eb73017a1c05303e29ddf0c1f2"><div class="ttname"><a href="classmrs__lib_1_1varstepLKF.html#ac1f671eb73017a1c05303e29ddf0c1f2">mrs_lib::varstepLKF::predict</a></div><div class="ttdeci">virtual statecov_t predict(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</div><div class="ttdoc">Applies the prediction (time) step of the Kalman filter.</div><div class="ttdef"><b>Definition:</b> lkf.h:316</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a8f5e50ea6668129218bd4113f4ffdf6f"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">mrs_lib::KalmanFilter::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:38</div></div>
+<div class="ttc" id="astructmrs__lib_1_1LKF_1_1inverse__exception_html"><div class="ttname"><a href="structmrs__lib_1_1LKF_1_1inverse__exception.html">mrs_lib::LKF::inverse_exception</a></div><div class="ttdoc">This exception is thrown when taking the inverse of a matrix fails.</div><div class="ttdef"><b>Definition:</b> lkf.h:66</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1varstepLKF_html"><div class="ttname"><a href="classmrs__lib_1_1varstepLKF.html">mrs_lib::varstepLKF</a></div><div class="ttdef"><b>Definition:</b> lkf.h:260</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_ad92ac4f280e849986554bc593e5ab96e"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">mrs_lib::KalmanFilter::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, m, 1 &gt; u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:35</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5ca7805e401bd7b718b510269a6ce7bf"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:56</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_abfad09fe2386fb87eaea7b4dd8b24409"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a8ba4552b6fa909e5d899d2fe8c8fdaa5"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a8ba4552b6fa909e5d899d2fe8c8fdaa5">mrs_lib::LKF::correct</a></div><div class="ttdeci">virtual statecov_t correct(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</div><div class="ttdoc">Applies the correction (update, measurement, data) step of the Kalman filter.</div><div class="ttdef"><b>Definition:</b> lkf.h:111</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_af4027c4bef5dda2a12af1f728e92c45a"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#af4027c4bef5dda2a12af1f728e92c45a">mrs_lib::LKF::predict</a></div><div class="ttdeci">virtual statecov_t predict(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] double dt) const override</div><div class="ttdoc">Applies the prediction (time) step of the Kalman filter.</div><div class="ttdef"><b>Definition:</b> lkf.h:138</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a5b8f47081daf208496a19a4364e6509c"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">mrs_lib::KalmanFilter::x_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, 1 &gt; x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:34</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a23db0a12382876c56c4f696119a38dfb"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a23db0a12382876c56c4f696119a38dfb">mrs_lib::LKF::n</a></div><div class="ttdeci">static constexpr int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> lkf.h:42</div></div>
+<div class="ttc" id="akalman__filter_8h_html"><div class="ttname"><a href="kalman__filter_8h.html">kalman_filter.h</a></div><div class="ttdoc">Defines KalmanFilter - an abstract class, defining common interfaces and types for a generic Kalman f...</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_aa5c83985c5c7685ebe2af0e445fbc0ad"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF::A_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:55</div></div>
+<div class="ttc" id="astructmrs__lib_1_1LKF_1_1inverse__exception_html_a44d325f6cd975003b995d33bd78948ac"><div class="ttname"><a href="structmrs__lib_1_1LKF_1_1inverse__exception.html#a44d325f6cd975003b995d33bd78948ac">mrs_lib::LKF::inverse_exception::what</a></div><div class="ttdeci">const char * what() const</div><div class="ttdoc">Returns the error message, describing what caused the exception.</div><div class="ttdef"><b>Definition:</b> lkf.h:73</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="summary">
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">math.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>Defines useful math functions that are not part of the cmath STD library.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cmath&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for math.h:</div>
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+</div>
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+<area shape="rect" title=" " alt="" coords="59,80,122,107"/>
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+</div>
+</div>
+<p><a href="math_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a8b597ab1c70f0f92933e24e13f390bf5"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a8b597ab1c70f0f92933e24e13f390bf5">mrs_lib::probit</a> (const double quantile)</td></tr>
+<tr class="memdesc:a8b597ab1c70f0f92933e24e13f390bf5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Inverse cumulative distribution function of the standard normal probability distribution.  <a href="namespacemrs__lib.html#a8b597ab1c70f0f92933e24e13f390bf5">More...</a><br /></td></tr>
+<tr class="separator:a8b597ab1c70f0f92933e24e13f390bf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines useful math functions that are not part of the cmath STD library. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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+   </div>
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+<a href="#nested-classes">Classes</a> &#124;
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+<div class="title">median_filter.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>Defines the MedianFilter class.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;boost/circular_buffer.hpp&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;optional&gt;</code><br />
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+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for median_filter.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<p><a href="median__filter_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of a median filter with a fixed-length buffer.  <a href="classmrs__lib_1_1MedianFilter.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines the MedianFilter class. </p>
+<dl class="section author"><dt>Author</dt><dd>Daniel Hert </dd>
+<dd>
+Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'mat'+'ou'+'s.v'+'rb'+'a@f'+'el'+'.cv'+'ut'+'.cz'; return false;">matou<span style="display: none;">.nosp@m.</span>s.vr<span style="display: none;">.nosp@m.</span>ba@fe<span style="display: none;">.nosp@m.</span>l.cv<span style="display: none;">.nosp@m.</span>ut.cz</a> </dd></dl>
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+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">median_filter.h</div>  </div>
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+<a href="median__filter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef MEDIAN_FILTER</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define MEDIAN_FILTER</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;boost/circular_buffer.hpp&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1MedianFilter.html">   22</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  {</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <a class="code" href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">MedianFilter</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> buffer_length, <span class="keyword">const</span> <span class="keywordtype">double</span> min_value = -std::numeric_limits&lt;double&gt;::infinity(), <span class="keyword">const</span> <span class="keywordtype">double</span> max_value = std::numeric_limits&lt;double&gt;::infinity(), <span class="keyword">const</span> <span class="keywordtype">double</span> max_diff = std::numeric_limits&lt;double&gt;::infinity());</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <a class="code" href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">MedianFilter</a>();</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <a class="code" href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">MedianFilter</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a>&amp; other);</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <a class="code" href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">MedianFilter</a>(<a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a>&amp;&amp; other);</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a>&amp; <a class="code" href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">operator=</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a>&amp; other);</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a>&amp; <a class="code" href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">operator=</a>(<a class="code" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a>&amp;&amp; other);</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">add</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> value);</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">check</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> value);</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">addCheck</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> value);</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">clear</a>();</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">full</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">median</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">initialized</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">setBufferLength</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> buffer_length);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">setMinValue</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> min_value);</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">setMaxValue</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> max_value);</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">setMaxDifference</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> max_diff);</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="comment">// for thread-safety</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">mutable</span> std::recursive_mutex m_mtx;</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="comment">// the input buffer</span></div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      boost::circular_buffer&lt;double&gt; m_buffer;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="comment">// a helper buffer for sorting the input buffer</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">mutable</span> std::vector&lt;double&gt; m_buffer_sorted;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="comment">// the last median value for lazy evaluation</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">mutable</span> std::optional&lt;double&gt; m_median;</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="comment">// parameters specified by the user</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordtype">double</span> m_min_valid;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">double</span> m_max_valid;</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordtype">double</span> m_max_diff;</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  };</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;} <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_af2888fa7449ce3ebc82f3255a519fe6a"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#af2888fa7449ce3ebc82f3255a519fe6a">mrs_lib::MedianFilter::setBufferLength</a></div><div class="ttdeci">void setBufferLength(const size_t buffer_length)</div><div class="ttdoc">Set a new size of the buffer.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:166</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_acdd73f7ffc9868eb6a05e7b6aea35d85"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#acdd73f7ffc9868eb6a05e7b6aea35d85">mrs_lib::MedianFilter::full</a></div><div class="ttdeci">bool full() const</div><div class="ttdoc">Check whether the buffer is filled with values.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:112</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a234342f8780bce6019f5183f798fe348"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a234342f8780bce6019f5183f798fe348">mrs_lib::MedianFilter::addCheck</a></div><div class="ttdeci">bool addCheck(const double value)</div><div class="ttdoc">Add a new value to the buffer and check if it complies with the constraints.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:94</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_aaf3d8e3bab539001962f2b29dabd314d"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#aaf3d8e3bab539001962f2b29dabd314d">mrs_lib::MedianFilter::add</a></div><div class="ttdeci">void add(const double value)</div><div class="ttdoc">Add a new value to the buffer.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:73</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a8162e19bd901f6dcd542d4c8615732f9"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a8162e19bd901f6dcd542d4c8615732f9">mrs_lib::MedianFilter::setMaxValue</a></div><div class="ttdeci">void setMaxValue(const double max_value)</div><div class="ttdoc">Set a new maximal threshold for new values.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:187</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a82d854470b0920fac623472721b01601"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a82d854470b0920fac623472721b01601">mrs_lib::MedianFilter::setMaxDifference</a></div><div class="ttdeci">void setMaxDifference(const double max_diff)</div><div class="ttdoc">Set a new maximal difference from median for new values.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:195</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a518d744f114ad6d0b2591d3804f6f095"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a518d744f114ad6d0b2591d3804f6f095">mrs_lib::MedianFilter::check</a></div><div class="ttdeci">bool check(const double value)</div><div class="ttdoc">Check whether a value complies with the constraints.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:84</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a843ddc70b6daf92fa91f225fab5b36f7"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a843ddc70b6daf92fa91f225fab5b36f7">mrs_lib::MedianFilter::initialized</a></div><div class="ttdeci">bool initialized() const</div><div class="ttdoc">Check whether the filter was initialized with a valid buffer length.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:158</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a53562ea9addbf12ba3cd257cdede4af6"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a53562ea9addbf12ba3cd257cdede4af6">mrs_lib::MedianFilter::median</a></div><div class="ttdeci">double median() const</div><div class="ttdoc">Obtain the median.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:120</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_ab30170b4f0d029c66e0a616936c7b693"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#ab30170b4f0d029c66e0a616936c7b693">mrs_lib::MedianFilter::operator=</a></div><div class="ttdeci">MedianFilter &amp; operator=(const MedianFilter &amp;other)</div><div class="ttdoc">A convenience copy assignment operator.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html">mrs_lib::MedianFilter</a></div><div class="ttdoc">Implementation of a median filter with a fixed-length buffer.</div><div class="ttdef"><b>Definition:</b> median_filter.h:22</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_ae810bd254e4fccfeb883b4585062f166"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166">mrs_lib::MedianFilter::MedianFilter</a></div><div class="ttdeci">MedianFilter()</div><div class="ttdoc">A convenience empty constructor that will construct an invalid filter.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:17</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a569e93d2d4be9632db2943fedb8133ba"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a569e93d2d4be9632db2943fedb8133ba">mrs_lib::MedianFilter::setMinValue</a></div><div class="ttdeci">void setMinValue(const double min_value)</div><div class="ttdoc">Set a new minimal threshold for new values.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:179</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MedianFilter_html_a533c6e194f991a9c11b9e2aadf7087a5"><div class="ttname"><a href="classmrs__lib_1_1MedianFilter.html#a533c6e194f991a9c11b9e2aadf7087a5">mrs_lib::MedianFilter::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Clear the buffer of all values.</div><div class="ttdef"><b>Definition:</b> median_filter.cpp:103</div></div>
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="median__filter_8h.html">median_filter.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/menu.js b/menu.js
new file mode 100644
index 00000000..433c15b8
--- /dev/null
+++ b/menu.js
@@ -0,0 +1,50 @@
+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    var result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (var i in data.children) {
+        result+='<li><a href="'+relPath+data.children[i].url+'">'+
+                                data.children[i].text+'</a>'+
+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
+
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchEnabled) {
+    if (serverSide) {
+      $('#main-menu').append('<li style="float:right"><div id="MSearchBox" class="MSearchBoxInactive"><div class="left"><form id="FSearchBox" action="'+relPath+searchPage+'" method="get"><img id="MSearchSelect" src="'+relPath+'search/mag.png" alt=""/><input type="text" id="MSearchField" name="query" value="'+search+'" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"></form></div><div class="right"></div></div></li>');
+    } else {
+      $('#main-menu').append('<li style="float:right"><div id="MSearchBox" class="MSearchBoxInactive"><span class="left"><img id="MSearchSelect" src="'+relPath+'search/mag_sel.png" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" alt=""/><input type="text" id="MSearchField" value="'+search+'" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)" onkeyup="searchBox.OnSearchFieldChange(event)"/></span><span class="right"><a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="'+relPath+'search/close.png" alt=""/></a></span></div></li>');
+    }
+  }
+  $('#main-menu').smartmenus();
+}
+/* @license-end */
diff --git a/menudata.js b/menudata.js
new file mode 100644
index 00000000..14d603bb
--- /dev/null
+++ b/menudata.js
@@ -0,0 +1,139 @@
+/*
+@licstart  The following is the entire license notice for the
+JavaScript code in this file.
+
+Copyright (C) 1997-2019 by Dimitri van Heesch
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of version 2 of the GNU General Public License as published by
+the Free Software Foundation
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License along
+with this program; if not, write to the Free Software Foundation, Inc.,
+51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+@licend  The above is the entire license notice
+for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Related Pages",url:"pages.html"},
+{text:"Namespaces",url:"namespaces.html",children:[
+{text:"Namespace List",url:"namespaces.html"},
+{text:"Namespace Members",url:"namespacemembers.html",children:[
+{text:"All",url:"namespacemembers.html",children:[
+{text:"c",url:"namespacemembers.html#index_c"},
+{text:"g",url:"namespacemembers.html#index_g"},
+{text:"m",url:"namespacemembers.html#index_m"},
+{text:"p",url:"namespacemembers.html#index_p"},
+{text:"r",url:"namespacemembers.html#index_r"},
+{text:"s",url:"namespacemembers.html#index_s"}]},
+{text:"Functions",url:"namespacemembers_func.html",children:[
+{text:"c",url:"namespacemembers_func.html#index_c"},
+{text:"g",url:"namespacemembers_func.html#index_g"},
+{text:"p",url:"namespacemembers_func.html#index_p"},
+{text:"r",url:"namespacemembers_func.html#index_r"},
+{text:"s",url:"namespacemembers_func.html#index_s"}]},
+{text:"Typedefs",url:"namespacemembers_type.html"}]}]},
+{text:"Classes",url:"annotated.html",children:[
+{text:"Class List",url:"annotated.html"},
+{text:"Class Index",url:"classes.html"},
+{text:"Class Hierarchy",url:"inherits.html"},
+{text:"Class Members",url:"functions.html",children:[
+{text:"All",url:"functions.html",children:[
+{text:"a",url:"functions.html#index_a"},
+{text:"b",url:"functions_b.html#index_b"},
+{text:"c",url:"functions_c.html#index_c"},
+{text:"d",url:"functions_d.html#index_d"},
+{text:"e",url:"functions_e.html#index_e"},
+{text:"f",url:"functions_f.html#index_f"},
+{text:"g",url:"functions_g.html#index_g"},
+{text:"h",url:"functions_h.html#index_h"},
+{text:"i",url:"functions_i.html#index_i"},
+{text:"j",url:"functions_j.html#index_j"},
+{text:"k",url:"functions_k.html#index_k"},
+{text:"l",url:"functions_l.html#index_l"},
+{text:"m",url:"functions_m.html#index_m"},
+{text:"n",url:"functions_n.html#index_n"},
+{text:"o",url:"functions_o.html#index_o"},
+{text:"p",url:"functions_p.html#index_p"},
+{text:"q",url:"functions_q.html#index_q"},
+{text:"r",url:"functions_r.html#index_r"},
+{text:"s",url:"functions_s.html#index_s"},
+{text:"t",url:"functions_t.html#index_t"},
+{text:"u",url:"functions_u.html#index_u"},
+{text:"v",url:"functions_v.html#index_v"},
+{text:"w",url:"functions_w.html#index_w"},
+{text:"x",url:"functions_x.html#index_x"},
+{text:"y",url:"functions_y.html#index_y"},
+{text:"z",url:"functions_z.html#index_z"},
+{text:"~",url:"functions_~.html#index__7E"}]},
+{text:"Functions",url:"functions_func.html",children:[
+{text:"a",url:"functions_func.html#index_a"},
+{text:"b",url:"functions_func_b.html#index_b"},
+{text:"c",url:"functions_func_c.html#index_c"},
+{text:"d",url:"functions_func_d.html#index_d"},
+{text:"e",url:"functions_func_e.html#index_e"},
+{text:"f",url:"functions_func_f.html#index_f"},
+{text:"g",url:"functions_func_g.html#index_g"},
+{text:"h",url:"functions_func_h.html#index_h"},
+{text:"i",url:"functions_func_i.html#index_i"},
+{text:"j",url:"functions_func_j.html#index_j"},
+{text:"l",url:"functions_func_l.html#index_l"},
+{text:"m",url:"functions_func_m.html#index_m"},
+{text:"n",url:"functions_func_n.html#index_n"},
+{text:"o",url:"functions_func_o.html#index_o"},
+{text:"p",url:"functions_func_p.html#index_p"},
+{text:"r",url:"functions_func_r.html#index_r"},
+{text:"s",url:"functions_func_s.html#index_s"},
+{text:"t",url:"functions_func_t.html#index_t"},
+{text:"u",url:"functions_func_u.html#index_u"},
+{text:"v",url:"functions_func_v.html#index_v"},
+{text:"w",url:"functions_func_w.html#index_w"},
+{text:"y",url:"functions_func_y.html#index_y"},
+{text:"~",url:"functions_func_~.html#index__7E"}]},
+{text:"Variables",url:"functions_vars.html",children:[
+{text:"a",url:"functions_vars.html#index_a"},
+{text:"b",url:"functions_vars.html#index_b"},
+{text:"h",url:"functions_vars.html#index_h"},
+{text:"k",url:"functions_vars.html#index_k"},
+{text:"l",url:"functions_vars.html#index_l"},
+{text:"m",url:"functions_vars.html#index_m"},
+{text:"n",url:"functions_vars.html#index_n"},
+{text:"p",url:"functions_vars.html#index_p"},
+{text:"q",url:"functions_vars.html#index_q"},
+{text:"r",url:"functions_vars.html#index_r"},
+{text:"s",url:"functions_vars.html#index_s"},
+{text:"t",url:"functions_vars.html#index_t"},
+{text:"w",url:"functions_vars.html#index_w"},
+{text:"x",url:"functions_vars.html#index_x"}]},
+{text:"Typedefs",url:"functions_type.html",children:[
+{text:"a",url:"functions_type.html#index_a"},
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="header">
+  <div class="summary">
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#typedef-members">Typedefs</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">misc.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines useful geometry utilities and functions.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;cmath&gt;</code><br />
+<code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;geometry_msgs/Point.h&gt;</code><br />
+<code>#include &lt;geometry_msgs/Quaternion.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for misc.h:</div>
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+<p><a href="misc_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
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+<tr class="memitem:a24ac45e66dd506f39699c4c2f8e04a26"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><b>mrs_lib::geometry::vec_t</b> = Eigen::Matrix&lt; double, dims, 1 &gt;</td></tr>
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+<tr class="memitem:a37eced130f5d204f8b08416e535858f0"><td class="memTemplItemLeft" align="right" valign="top">vec_t&lt; dims+1 &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><b>mrs_lib::geometry::toHomogenous</b> (const vec_t&lt; dims &gt; &amp;vec)</td></tr>
+<tr class="separator:a37eced130f5d204f8b08416e535858f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac5072a0343d0cfe703ddce456e7c5756"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a926f171b122a39c63ccb860666a7e254"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a277dbfe7688635c28c5a1b34f32ed81e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the angle between two vectors, taking orientation into account.  <a href="misc_8h.html#a277dbfe7688635c28c5a1b34f32ed81e">More...</a><br /></td></tr>
+<tr class="separator:a277dbfe7688635c28c5a1b34f32ed81e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3c40238e3620a619ddadf518321ccaae"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afc7674301c81fd347f26a2bc0bb96979"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a61d1dcf236aac255d384e35efd67370e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a600a2f5b7f1e654339f7177f9a64934c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3f9294141cc559ae94b4c026ac47d05a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:acbd2f281f58752d98b9482f3a9697363"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a105c80e76bac24eb3e2a16bed6609a80"><td class="memItemLeft" align="right" valign="top">quat_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#a105c80e76bac24eb3e2a16bed6609a80">mrs_lib::geometry::quaternionFromEuler</a> (const Eigen::Vector3d &amp;euler)</td></tr>
+<tr class="memdesc:a105c80e76bac24eb3e2a16bed6609a80"><td class="mdescLeft">&#160;</td><td class="mdescRight">create a quaternion from Euler angles provided as a vector  <a href="misc_8h.html#a105c80e76bac24eb3e2a16bed6609a80">More...</a><br /></td></tr>
+<tr class="separator:a105c80e76bac24eb3e2a16bed6609a80"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac041627690bc6f377e60b99344b8b3a"><td class="memItemLeft" align="right" valign="top">quat_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#aac041627690bc6f377e60b99344b8b3a">mrs_lib::geometry::quaternionFromHeading</a> (const double heading)</td></tr>
+<tr class="memdesc:aac041627690bc6f377e60b99344b8b3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">create a quaternion from heading  <a href="misc_8h.html#aac041627690bc6f377e60b99344b8b3a">More...</a><br /></td></tr>
+<tr class="separator:aac041627690bc6f377e60b99344b8b3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aedd0e70cfd555703b53c469312d56293"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#aedd0e70cfd555703b53c469312d56293">mrs_lib::geometry::cross</a> (const vec2_t &amp;a, const vec2_t b)</td></tr>
+<tr class="memdesc:aedd0e70cfd555703b53c469312d56293"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of cross product for 2D vectors.  <a href="misc_8h.html#aedd0e70cfd555703b53c469312d56293">More...</a><br /></td></tr>
+<tr class="separator:aedd0e70cfd555703b53c469312d56293"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53aed2b4889c7574f51b590d0a602722"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#a53aed2b4889c7574f51b590d0a602722">mrs_lib::geometry::dist</a> (const vec2_t &amp;a, const vec2_t &amp;b)</td></tr>
+<tr class="memdesc:a53aed2b4889c7574f51b590d0a602722"><td class="mdescLeft">&#160;</td><td class="mdescRight">distnace between two 2D Eigen vectors  <a href="misc_8h.html#a53aed2b4889c7574f51b590d0a602722">More...</a><br /></td></tr>
+<tr class="separator:a53aed2b4889c7574f51b590d0a602722"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae00d8eaf9c43e838e245454ef7c290f4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#ae00d8eaf9c43e838e245454ef7c290f4">mrs_lib::geometry::dist</a> (const vec3_t &amp;a, const vec3_t &amp;b)</td></tr>
+<tr class="memdesc:ae00d8eaf9c43e838e245454ef7c290f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">distnace between two 3D Eigen vectors  <a href="misc_8h.html#ae00d8eaf9c43e838e245454ef7c290f4">More...</a><br /></td></tr>
+<tr class="separator:ae00d8eaf9c43e838e245454ef7c290f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62f7d942a2445dc2c362678523966241"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#a62f7d942a2445dc2c362678523966241">mrs_lib::geometry::triangleArea</a> (const double a, const double b, const double c)</td></tr>
+<tr class="memdesc:a62f7d942a2445dc2c362678523966241"><td class="mdescLeft">&#160;</td><td class="mdescRight">uses Heron's formula to compute area of a given triangle using side lengths  <a href="misc_8h.html#a62f7d942a2445dc2c362678523966241">More...</a><br /></td></tr>
+<tr class="separator:a62f7d942a2445dc2c362678523966241"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8605d3a799002897f1d260cc4be95682"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="misc_8h.html#a8605d3a799002897f1d260cc4be95682">mrs_lib::geometry::sphericalTriangleArea</a> (Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)</td></tr>
+<tr class="memdesc:a8605d3a799002897f1d260cc4be95682"><td class="mdescLeft">&#160;</td><td class="mdescRight">compute the area of a 'triangle' drawn on a spherical surface  <a href="misc_8h.html#a8605d3a799002897f1d260cc4be95682">More...</a><br /></td></tr>
+<tr class="separator:a8605d3a799002897f1d260cc4be95682"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acfda874d1843fd8c03fb309b5024818f"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:acfda874d1843fd8c03fb309b5024818f"><td class="memTemplItemLeft" align="right" valign="top">mat3_t&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="misc_8h.html#acfda874d1843fd8c03fb309b5024818f">mrs_lib::geometry::rotateCovariance</a> (const mat3_t &amp;cov, const T &amp;rot)</td></tr>
+<tr class="memdesc:acfda874d1843fd8c03fb309b5024818f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the covariance rotated using the specified rotation.  <a href="misc_8h.html#acfda874d1843fd8c03fb309b5024818f">More...</a><br /></td></tr>
+<tr class="separator:acfda874d1843fd8c03fb309b5024818f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines useful geometry utilities and functions. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd>
+<dd>
+Petr Štibinger - <a href="#" onclick="location.href='mai'+'lto:'+'sti'+'bi'+'pet'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">stibi<span style="display: none;">.nosp@m.</span>pet@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a3c40238e3620a619ddadf518321ccaae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c40238e3620a619ddadf518321ccaae">&#9670;&nbsp;</a></span>angleaxisBetween()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">anax_t mrs_lib::geometry::angleaxisBetween </td>
+          <td>(</td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>tolerance</em> = <code>1e-9</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the rotation between two vectors, represented as angle-axis. </p>
+<p>To avoid singularities, a <code>tolerance</code> parameter is used:</p><ul>
+<li>If the absolute angle between the two vectors is less than <code>tolerance</code>, a zero rotation is returned.</li>
+<li>If the angle between the two vectors is closer to <img class="formulaInl" alt="$ \pi $" src="form_26.png"/> than <code>tolerance</code>, a <img class="formulaInl" alt="$ \pi $" src="form_26.png"/> rotation is returned.</li>
+</ul>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>vector from which the rotation starts. </td></tr>
+    <tr><td class="paramname">b</td><td>vector at which the rotation ends.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rotation from <code>a</code> to <code>b</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a926f171b122a39c63ccb860666a7e254"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a926f171b122a39c63ccb860666a7e254">&#9670;&nbsp;</a></span>angleBetween() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::angleBetween </td>
+          <td>(</td>
+          <td class="paramtype">const vec2_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec2_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the angle between two vectors, taking orientation into account. </p>
+<p>This implementation uses <code>atan2</code> instead of just <code>acos</code> and thus it properly takes into account orientation of the vectors, returning angle in all four quadrants.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>vector from which the angle will be measured. </td></tr>
+    <tr><td class="paramname">b</td><td>vector to which the angle will be measured.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>angle from <code>a</code> to <code>b</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a277dbfe7688635c28c5a1b34f32ed81e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a277dbfe7688635c28c5a1b34f32ed81e">&#9670;&nbsp;</a></span>angleBetween() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::angleBetween </td>
+          <td>(</td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the angle between two vectors, taking orientation into account. </p>
+<p>This implementation uses <code>atan2</code> instead of just <code>acos</code> and thus it properly takes into account orientation of the vectors, returning angle in all four quadrants.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>vector from which the angle will be measured. </td></tr>
+    <tr><td class="paramname">b</td><td>vector to which the angle will be measured.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>angle from <code>a</code> to <code>b</code>. </dd></dl>
+
+</div>
+</div>
+<a id="aedd0e70cfd555703b53c469312d56293"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aedd0e70cfd555703b53c469312d56293">&#9670;&nbsp;</a></span>cross()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::cross </td>
+          <td>(</td>
+          <td class="paramtype">const vec2_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec2_t&#160;</td>
+          <td class="paramname"><em>b</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Implementation of cross product for 2D vectors. </p>
+<p>Useful e.g. for finding the sine of an angle between two 2D vectors.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>first vector of the cross product. </td></tr>
+    <tr><td class="paramname">b</td><td>second vector of the cross product.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><img class="formulaInl" alt="$ a \times b $" src="form_27.png"/> (sine of the angle from <code>a</code> to <code>b</code>). </dd></dl>
+
+</div>
+</div>
+<a id="a53aed2b4889c7574f51b590d0a602722"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53aed2b4889c7574f51b590d0a602722">&#9670;&nbsp;</a></span>dist() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::dist </td>
+          <td>(</td>
+          <td class="paramtype">const vec2_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec2_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>distnace between two 2D Eigen vectors </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td></td></tr>
+    <tr><td class="paramname">b</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Euclidean distance </dd></dl>
+
+</div>
+</div>
+<a id="ae00d8eaf9c43e838e245454ef7c290f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae00d8eaf9c43e838e245454ef7c290f4">&#9670;&nbsp;</a></span>dist() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::dist </td>
+          <td>(</td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>distnace between two 3D Eigen vectors </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td></td></tr>
+    <tr><td class="paramname">b</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Euclidean distance </dd></dl>
+
+</div>
+</div>
+<a id="a61d1dcf236aac255d384e35efd67370e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61d1dcf236aac255d384e35efd67370e">&#9670;&nbsp;</a></span>haversin()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::haversin </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>angle</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>computes the haversine (half of versine) for a given angle </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">angle</td><td>angle in radians</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd></dd></dl>
+
+</div>
+</div>
+<a id="ac5072a0343d0cfe703ddce456e7c5756"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5072a0343d0cfe703ddce456e7c5756">&#9670;&nbsp;</a></span>headingFromRot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::headingFromRot </td>
+          <td>(</td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>rot</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the heading angle from the rotation. </p>
+<p>Heading is defined as the angle of a [1,0,0] vector rotated by the rotation and projected to the XY plane from the X axis.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">rot</td><td>the rotation to extract the heading angle from.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the heading angle. </dd></dl>
+
+</div>
+</div>
+<a id="a600a2f5b7f1e654339f7177f9a64934c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a600a2f5b7f1e654339f7177f9a64934c">&#9670;&nbsp;</a></span>invHaversin()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::invHaversin </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>computes the inverse haversine angle for a given value </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>angle in radians </dd></dl>
+
+</div>
+</div>
+<a id="afc7674301c81fd347f26a2bc0bb96979"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc7674301c81fd347f26a2bc0bb96979">&#9670;&nbsp;</a></span>quaternionBetween()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">quat_t mrs_lib::geometry::quaternionBetween </td>
+          <td>(</td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>tolerance</em> = <code>1e-9</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the rotation between two vectors, represented as a quaternion. </p>
+<p>Works the same as the <a class="el" href="misc_8h.html#a3c40238e3620a619ddadf518321ccaae" title="Returns the rotation between two vectors, represented as angle-axis.">angleaxisBetween()</a> function (in fact it is used in the implementation).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>vector from which the rotation starts. </td></tr>
+    <tr><td class="paramname">b</td><td>vector at which the rotation ends.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rotation from <code>a</code> to <code>b</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a105c80e76bac24eb3e2a16bed6609a80"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a105c80e76bac24eb3e2a16bed6609a80">&#9670;&nbsp;</a></span>quaternionFromEuler() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">quat_t mrs_lib::geometry::quaternionFromEuler </td>
+          <td>(</td>
+          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
+          <td class="paramname"><em>euler</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>create a quaternion from Euler angles provided as a vector </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">euler</td><td>components of the rotation provided as vector of Euler angles</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>quaternion </dd></dl>
+
+</div>
+</div>
+<a id="acbd2f281f58752d98b9482f3a9697363"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acbd2f281f58752d98b9482f3a9697363">&#9670;&nbsp;</a></span>quaternionFromEuler() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">quat_t mrs_lib::geometry::quaternionFromEuler </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>x</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>y</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>z</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>create a quaternion from 3 provided Euler angles </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">x</td><td>Euler angle in radians </td></tr>
+    <tr><td class="paramname">y</td><td>Euler angle in radians </td></tr>
+    <tr><td class="paramname">z</td><td>Euler angle in radians</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>quaternion </dd></dl>
+
+</div>
+</div>
+<a id="aac041627690bc6f377e60b99344b8b3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac041627690bc6f377e60b99344b8b3a">&#9670;&nbsp;</a></span>quaternionFromHeading()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">quat_t mrs_lib::geometry::quaternionFromHeading </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>heading</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>create a quaternion from heading </p>
+<p>Heading is defined as the angle of a [1,0,0] vector rotated by the rotation and projected to the XY plane from the X axis.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">heading</td><td>the heading angle.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the quaternion corresponding to the heading rotation. </dd></dl>
+
+</div>
+</div>
+<a id="acfda874d1843fd8c03fb309b5024818f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfda874d1843fd8c03fb309b5024818f">&#9670;&nbsp;</a></span>rotateCovariance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">mat3_t mrs_lib::geometry::rotateCovariance </td>
+          <td>(</td>
+          <td class="paramtype">const mat3_t &amp;&#160;</td>
+          <td class="paramname"><em>cov</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T &amp;&#160;</td>
+          <td class="paramname"><em>rot</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the covariance rotated using the specified rotation. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cov</td><td>the covariance to be rotated. </td></tr>
+    <tr><td class="paramname">rot</td><td>the rotation use.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a new matrix object containing the rotated covariance. </dd></dl>
+
+</div>
+</div>
+<a id="a59d7c7ddea21a014b2c831a0fc65fbb1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d7c7ddea21a014b2c831a0fc65fbb1">&#9670;&nbsp;</a></span>rotationBetween()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Eigen::Matrix3d mrs_lib::geometry::rotationBetween </td>
+          <td>(</td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const vec3_t &amp;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>tolerance</em> = <code>1e-9</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the rotation between two vectors, represented as a rotation matrix. </p>
+<p>Works the same as the <a class="el" href="misc_8h.html#a3c40238e3620a619ddadf518321ccaae" title="Returns the rotation between two vectors, represented as angle-axis.">angleaxisBetween()</a> function (in fact it is used in the implementation).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>vector from which the rotation starts. </td></tr>
+    <tr><td class="paramname">b</td><td>vector at which the rotation ends.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>rotation from <code>a</code> to <code>b</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a3f9294141cc559ae94b4c026ac47d05a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f9294141cc559ae94b4c026ac47d05a">&#9670;&nbsp;</a></span>solidAngle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::solidAngle </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>computes the solid angle for a spherical surface corresponding to a 'triangle' with edge lengths a, b, c </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td></td></tr>
+    <tr><td class="paramname">b</td><td></td></tr>
+    <tr><td class="paramname">c</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>solid angle in steradians </dd></dl>
+
+</div>
+</div>
+<a id="a8605d3a799002897f1d260cc4be95682"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8605d3a799002897f1d260cc4be95682">&#9670;&nbsp;</a></span>sphericalTriangleArea()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::sphericalTriangleArea </td>
+          <td>(</td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Eigen::Vector3d&#160;</td>
+          <td class="paramname"><em>c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>compute the area of a 'triangle' drawn on a spherical surface </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>length of side1 </td></tr>
+    <tr><td class="paramname">b</td><td>length of side2 </td></tr>
+    <tr><td class="paramname">c</td><td>length of side3</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>area in units squared </dd></dl>
+
+</div>
+</div>
+<a id="a62f7d942a2445dc2c362678523966241"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62f7d942a2445dc2c362678523966241">&#9670;&nbsp;</a></span>triangleArea()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::geometry::triangleArea </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>a</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>uses Heron's formula to compute area of a given triangle using side lengths </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">a</td><td>length of side1 </td></tr>
+    <tr><td class="paramname">b</td><td>length of side2 </td></tr>
+    <tr><td class="paramname">c</td><td>length of side3</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>area in units squared </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="dir_85b0de967ad5400027712e30c95ca897.html">geometry</a></li><li class="navelem"><a class="el" href="misc_8h.html">misc.h</a></li>
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+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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diff --git a/misc_8h__incl.map b/misc_8h__incl.map
new file mode 100644
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diff --git a/misc_8h__incl.md5 b/misc_8h__incl.md5
new file mode 100644
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">misc.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="misc_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef GEOMETRY_MISC_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define GEOMETRY_MISC_H</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Point.h&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Quaternion.h&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">namespace </span>geometry</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  {</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> dims&gt;</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">using</span> vec_t = Eigen::Matrix&lt;double, dims, 1&gt;;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">using</span> pt2_t = vec_t&lt;2&gt;;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">using</span> vec2_t = vec_t&lt;2&gt;;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">using</span> pt3_t = vec_t&lt;3&gt;;</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">using</span> vec3_t = vec_t&lt;3&gt;;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keyword">using</span> mat3_t = Eigen::Matrix3d;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">using</span> quat_t = Eigen::Quaterniond;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">using</span> anax_t = Eigen::AngleAxisd;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> dims&gt;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    vec_t&lt;dims + 1&gt; toHomogenous(<span class="keyword">const</span> vec_t&lt;dims&gt;&amp; vec)</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keyword">const</span> Eigen::Matrix&lt;double, dims + 1, 1&gt; ret((Eigen::Matrix&lt;double, dims + 1, 1&gt;() &lt;&lt; vec, 1).finished());</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    }</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="comment">// | ----------------- Angle-related functions ---------------- |</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">/* angle-related functions //{ */</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">/* headingFromRot() //{ */</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="misc_8h.html#ac5072a0343d0cfe703ddce456e7c5756">   57</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="misc_8h.html#ac5072a0343d0cfe703ddce456e7c5756">headingFromRot</a>(<span class="keyword">const</span> T&amp; rot)</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">const</span> vec3_t rot_vec = rot*vec3_t::UnitX();</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keywordflow">return</span> std::atan2(rot_vec.y(), rot_vec.x());</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    }</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">/* angleBetween() //{ */</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">double</span> angleBetween(<span class="keyword">const</span> vec2_t&amp; a, <span class="keyword">const</span> vec2_t&amp; b);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordtype">double</span> angleBetween(<span class="keyword">const</span> vec3_t&amp; a, <span class="keyword">const</span> vec3_t&amp; b);</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">/* angleaxisBetween() //{ */</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    anax_t angleaxisBetween(<span class="keyword">const</span> vec3_t&amp; a, <span class="keyword">const</span> vec3_t&amp; b, <span class="keyword">const</span> <span class="keywordtype">double</span> tolerance = 1e-9);</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">/* quaternionBetween() //{ */</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    quat_t quaternionBetween(<span class="keyword">const</span> vec3_t&amp; a, <span class="keyword">const</span> vec3_t&amp; b, <span class="keyword">const</span> <span class="keywordtype">double</span> tolerance = 1e-9);</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">/* rotationBetween() //{ */</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    Eigen::Matrix3d rotationBetween(<span class="keyword">const</span> vec3_t&amp; a, <span class="keyword">const</span> vec3_t&amp; b, <span class="keyword">const</span> <span class="keywordtype">double</span> tolerance = 1e-9);</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">/* haversin() //{ */</span></div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">double</span> haversin(<span class="keyword">const</span> <span class="keywordtype">double</span> angle);</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="comment">/* invHaversin() //{ */</span></div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">double</span> invHaversin(<span class="keyword">const</span> <span class="keywordtype">double</span> value);</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">/* solidAngle //{ */</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">double</span> solidAngle(<span class="keywordtype">double</span> a, <span class="keywordtype">double</span> b, <span class="keywordtype">double</span> c);</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="comment">/* quaternionFromEuler() //{ */</span></div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    quat_t quaternionFromEuler(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z);</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    quat_t quaternionFromEuler(<span class="keyword">const</span> Eigen::Vector3d&amp; euler);</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    quat_t quaternionFromHeading(<span class="keyword">const</span> <span class="keywordtype">double</span> heading);</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="comment">// | ----------------- Miscellaneous functions ---------------- |</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">/* 2D cross() //{ */</span></div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">double</span> cross(<span class="keyword">const</span> vec2_t&amp; a, <span class="keyword">const</span> vec2_t b);</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="comment">/* vector distance //{ */</span></div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordtype">double</span> dist(<span class="keyword">const</span> vec2_t&amp; a, <span class="keyword">const</span> vec2_t&amp; b);</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordtype">double</span> dist(<span class="keyword">const</span> vec3_t&amp; a, <span class="keyword">const</span> vec3_t&amp; b);</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="comment">/* triangleArea() //{ */</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordtype">double</span> triangleArea(<span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> c);</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="comment">/* sphericalTriangleArea //{ */</span></div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordtype">double</span> sphericalTriangleArea(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c);</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="comment">/* rotateCovariance() //{ */</span></div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    </div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="misc_8h.html#acfda874d1843fd8c03fb309b5024818f">  313</a></span>&#160;    mat3_t <a class="code" href="misc_8h.html#acfda874d1843fd8c03fb309b5024818f">rotateCovariance</a>(<span class="keyword">const</span> mat3_t&amp; cov, <span class="keyword">const</span> T&amp; rot)</div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    {</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keyword">const</span> mat3_t matrot(rot);</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keywordflow">return</span> matrot*cov*matrot.transpose();</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    }</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    </div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  }  <span class="comment">// namespace geometry</span></div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="amisc_8h_html_ac5072a0343d0cfe703ddce456e7c5756"><div class="ttname"><a href="misc_8h.html#ac5072a0343d0cfe703ddce456e7c5756">mrs_lib::geometry::headingFromRot</a></div><div class="ttdeci">double headingFromRot(const T &amp;rot)</div><div class="ttdoc">Returns the heading angle from the rotation.</div><div class="ttdef"><b>Definition:</b> misc.h:57</div></div>
+<div class="ttc" id="amisc_8h_html_acfda874d1843fd8c03fb309b5024818f"><div class="ttname"><a href="misc_8h.html#acfda874d1843fd8c03fb309b5024818f">mrs_lib::geometry::rotateCovariance</a></div><div class="ttdeci">mat3_t rotateCovariance(const mat3_t &amp;cov, const T &amp;rot)</div><div class="ttdoc">Returns the covariance rotated using the specified rotation.</div><div class="ttdef"><b>Definition:</b> misc.h:313</div></div>
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="dir_85b0de967ad5400027712e30c95ca897.html">geometry</a></li><li class="navelem"><a class="el" href="misc_8h.html">misc.h</a></li>
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: include/mrs_lib/mrs_lib.h Source File</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
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+  <div class="summary">
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">msg_extractor.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>utility functions for getting stuff from ROS msgs  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;mrs_msgs/TrackerCommand.h&gt;</code><br />
+<code>#include &lt;mrs_msgs/Reference.h&gt;</code><br />
+<code>#include &lt;mrs_msgs/ReferenceStamped.h&gt;</code><br />
+<code>#include &lt;nav_msgs/Odometry.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">mrs_lib/attitude_converter.h</a>&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for msg_extractor.h:</div>
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+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<p><a href="msg__extractor_8h_source.html">Go to the source code of this file.</a></p>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a13152460c1973b54f71f230340b20494"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a13152460c1973b54f71f230340b20494">mrs_lib::getYaw</a> (const geometry_msgs::PoseWithCovariance &amp;data)</td></tr>
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+<tr class="separator:a13152460c1973b54f71f230340b20494"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2aa307f37eb6f60fc4d360adb8559946"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a2aa307f37eb6f60fc4d360adb8559946">mrs_lib::getYaw</a> (const geometry_msgs::PoseWithCovarianceConstPtr &amp;data)</td></tr>
+<tr class="memdesc:a2aa307f37eb6f60fc4d360adb8559946"><td class="mdescLeft">&#160;</td><td class="mdescRight">get yaw from geometry_msgs::PoseWithCovarianceConstPtr  <a href="namespacemrs__lib.html#a2aa307f37eb6f60fc4d360adb8559946">More...</a><br /></td></tr>
+<tr class="separator:a2aa307f37eb6f60fc4d360adb8559946"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6e64da46123dd4cc793419585a66e54c"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">mrs_lib::getVelocity</a> (const geometry_msgs::Twist &amp;data)</td></tr>
+<tr class="memdesc:a6e64da46123dd4cc793419585a66e54c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity from geometry_msgs::Twist  <a href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">More...</a><br /></td></tr>
+<tr class="separator:a6e64da46123dd4cc793419585a66e54c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2a47eec589a6a62199f9fa2b4879d5b"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af2a47eec589a6a62199f9fa2b4879d5b">mrs_lib::getPosition</a> (const geometry_msgs::TwistConstPtr &amp;data)</td></tr>
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+<tr class="separator:af2a47eec589a6a62199f9fa2b4879d5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0669aa00311586cf9882f1bccff07d16"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a0669aa00311586cf9882f1bccff07d16">mrs_lib::getVelocity</a> (const geometry_msgs::TwistWithCovariance &amp;data)</td></tr>
+<tr class="memdesc:a0669aa00311586cf9882f1bccff07d16"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity from geometry_msgs::TwistWithCovariance  <a href="namespacemrs__lib.html#a0669aa00311586cf9882f1bccff07d16">More...</a><br /></td></tr>
+<tr class="separator:a0669aa00311586cf9882f1bccff07d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:addf482f99d48899ccf29a9e89eb5771e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from geometry_msgs::TwistWithCovarianceConstPtr  <a href="namespacemrs__lib.html#addf482f99d48899ccf29a9e89eb5771e">More...</a><br /></td></tr>
+<tr class="separator:addf482f99d48899ccf29a9e89eb5771e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6beef9718623cdac64b8b5ea35c8be4a"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a6beef9718623cdac64b8b5ea35c8be4a">mrs_lib::getPosition</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:a6beef9718623cdac64b8b5ea35c8be4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from nav_msgs::Odometry  <a href="namespacemrs__lib.html#a6beef9718623cdac64b8b5ea35c8be4a">More...</a><br /></td></tr>
+<tr class="separator:a6beef9718623cdac64b8b5ea35c8be4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52981dc7eab7573aedf1d447cb40b1fb"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a52981dc7eab7573aedf1d447cb40b1fb">mrs_lib::getPosition</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:a52981dc7eab7573aedf1d447cb40b1fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#a52981dc7eab7573aedf1d447cb40b1fb">More...</a><br /></td></tr>
+<tr class="separator:a52981dc7eab7573aedf1d447cb40b1fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab2704bf692a6cfc5674272fc6ff06ca"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aab2704bf692a6cfc5674272fc6ff06ca">mrs_lib::getVelocity</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:aab2704bf692a6cfc5674272fc6ff06ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from nav_msgs::Odometry  <a href="namespacemrs__lib.html#aab2704bf692a6cfc5674272fc6ff06ca">More...</a><br /></td></tr>
+<tr class="separator:aab2704bf692a6cfc5674272fc6ff06ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8c731a97cd737d35d9524ec60f4ee2f"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af8c731a97cd737d35d9524ec60f4ee2f">mrs_lib::getVelocity</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:af8c731a97cd737d35d9524ec60f4ee2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#af8c731a97cd737d35d9524ec60f4ee2f">More...</a><br /></td></tr>
+<tr class="separator:af8c731a97cd737d35d9524ec60f4ee2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a482e880bcf945677389dcab02597e90f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a482e880bcf945677389dcab02597e90f">mrs_lib::getHeading</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:a482e880bcf945677389dcab02597e90f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from nav_msgs::Odometry  <a href="namespacemrs__lib.html#a482e880bcf945677389dcab02597e90f">More...</a><br /></td></tr>
+<tr class="separator:a482e880bcf945677389dcab02597e90f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba8b3d81b8855577fbe90fc9a2f84fb6"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aba8b3d81b8855577fbe90fc9a2f84fb6">mrs_lib::getHeading</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:aba8b3d81b8855577fbe90fc9a2f84fb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#aba8b3d81b8855577fbe90fc9a2f84fb6">More...</a><br /></td></tr>
+<tr class="separator:aba8b3d81b8855577fbe90fc9a2f84fb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af17cc11983807fb3d6bd17092fa30fc4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af17cc11983807fb3d6bd17092fa30fc4">mrs_lib::getYaw</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:af17cc11983807fb3d6bd17092fa30fc4"><td class="mdescLeft">&#160;</td><td class="mdescRight">get yaw from nav_msgs::Odometry  <a href="namespacemrs__lib.html#af17cc11983807fb3d6bd17092fa30fc4">More...</a><br /></td></tr>
+<tr class="separator:af17cc11983807fb3d6bd17092fa30fc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af62f21eed6f44954b6aefbf0afbbf2e0"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af62f21eed6f44954b6aefbf0afbbf2e0">mrs_lib::getYaw</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:af62f21eed6f44954b6aefbf0afbbf2e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">get yaw from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#af62f21eed6f44954b6aefbf0afbbf2e0">More...</a><br /></td></tr>
+<tr class="separator:af62f21eed6f44954b6aefbf0afbbf2e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1cd3887061c0b071a29dbbfe1b8a11dd"><td class="memItemLeft" align="right" valign="top">geometry_msgs::Pose&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">mrs_lib::getPose</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:a1cd3887061c0b071a29dbbfe1b8a11dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the Pose part of the nav_msgs::Odometry message  <a href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">More...</a><br /></td></tr>
+<tr class="separator:a1cd3887061c0b071a29dbbfe1b8a11dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb6bfcfa0d9432d2184852b4f4d2694b"><td class="memItemLeft" align="right" valign="top">geometry_msgs::Pose&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#acb6bfcfa0d9432d2184852b4f4d2694b">mrs_lib::getPose</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:acb6bfcfa0d9432d2184852b4f4d2694b"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the Pose part of the nav_msgs::OdometryConstPtr message  <a href="namespacemrs__lib.html#acb6bfcfa0d9432d2184852b4f4d2694b">More...</a><br /></td></tr>
+<tr class="separator:acb6bfcfa0d9432d2184852b4f4d2694b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c51dc5a87098b8ecd7d7e78599be7b8"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a4c51dc5a87098b8ecd7d7e78599be7b8">mrs_lib::getPosition</a> (const mrs_msgs::TrackerCommand &amp;data)</td></tr>
+<tr class="memdesc:a4c51dc5a87098b8ecd7d7e78599be7b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position data from mrs_msgs::TrackerCommand  <a href="namespacemrs__lib.html#a4c51dc5a87098b8ecd7d7e78599be7b8">More...</a><br /></td></tr>
+<tr class="separator:a4c51dc5a87098b8ecd7d7e78599be7b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af85023d127c2383e6825ab7e4f7da1fb"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af85023d127c2383e6825ab7e4f7da1fb">mrs_lib::getPosition</a> (const mrs_msgs::TrackerCommandConstPtr &amp;data)</td></tr>
+<tr class="memdesc:af85023d127c2383e6825ab7e4f7da1fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position data from mrs_msgs::TrackerCommandConstPtr  <a href="namespacemrs__lib.html#af85023d127c2383e6825ab7e4f7da1fb">More...</a><br /></td></tr>
+<tr class="separator:af85023d127c2383e6825ab7e4f7da1fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ade26d077c3e43c9f201a2e8d73dba2b7"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ade26d077c3e43c9f201a2e8d73dba2b7">mrs_lib::getVelocity</a> (const mrs_msgs::TrackerCommand &amp;data)</td></tr>
+<tr class="memdesc:ade26d077c3e43c9f201a2e8d73dba2b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity data from mrs_msgs::TrackerCommand  <a href="namespacemrs__lib.html#ade26d077c3e43c9f201a2e8d73dba2b7">More...</a><br /></td></tr>
+<tr class="separator:ade26d077c3e43c9f201a2e8d73dba2b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad278e1089b273b3e0216977ee8df8ac5"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ad278e1089b273b3e0216977ee8df8ac5">mrs_lib::getVelocity</a> (const mrs_msgs::TrackerCommandConstPtr &amp;data)</td></tr>
+<tr class="memdesc:ad278e1089b273b3e0216977ee8df8ac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity data from mrs_msgs::TrackerCommandConstPtr  <a href="namespacemrs__lib.html#ad278e1089b273b3e0216977ee8df8ac5">More...</a><br /></td></tr>
+<tr class="separator:ad278e1089b273b3e0216977ee8df8ac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3594a3b11dd4b67c42c25e3caba896e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ad3594a3b11dd4b67c42c25e3caba896e">mrs_lib::getHeading</a> (const mrs_msgs::TrackerCommand &amp;data)</td></tr>
+<tr class="memdesc:ad3594a3b11dd4b67c42c25e3caba896e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::TrackerCommand  <a href="namespacemrs__lib.html#ad3594a3b11dd4b67c42c25e3caba896e">More...</a><br /></td></tr>
+<tr class="separator:ad3594a3b11dd4b67c42c25e3caba896e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adfa03f341e40b1999bc66cdf066b714e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#adfa03f341e40b1999bc66cdf066b714e">mrs_lib::getHeading</a> (const mrs_msgs::TrackerCommandConstPtr &amp;data)</td></tr>
+<tr class="memdesc:adfa03f341e40b1999bc66cdf066b714e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::TrackerCommandConstPtr  <a href="namespacemrs__lib.html#adfa03f341e40b1999bc66cdf066b714e">More...</a><br /></td></tr>
+<tr class="separator:adfa03f341e40b1999bc66cdf066b714e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f78d985e8d87688482e5e30c948b067"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a8f78d985e8d87688482e5e30c948b067">mrs_lib::getPosition</a> (const mrs_msgs::Reference &amp;data)</td></tr>
+<tr class="memdesc:a8f78d985e8d87688482e5e30c948b067"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from mrs_msgs::Reference  <a href="namespacemrs__lib.html#a8f78d985e8d87688482e5e30c948b067">More...</a><br /></td></tr>
+<tr class="separator:a8f78d985e8d87688482e5e30c948b067"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa767373d0d66e633d754d5fa4db1afca"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aa767373d0d66e633d754d5fa4db1afca">mrs_lib::getPosition</a> (const mrs_msgs::ReferenceConstPtr &amp;data)</td></tr>
+<tr class="memdesc:aa767373d0d66e633d754d5fa4db1afca"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from mrs_msgs::ReferenceConstPtr  <a href="namespacemrs__lib.html#aa767373d0d66e633d754d5fa4db1afca">More...</a><br /></td></tr>
+<tr class="separator:aa767373d0d66e633d754d5fa4db1afca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4481d1d612b63a2c63f9e2dac6aaa3c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af4481d1d612b63a2c63f9e2dac6aaa3c">mrs_lib::getHeading</a> (const mrs_msgs::Reference &amp;data)</td></tr>
+<tr class="memdesc:af4481d1d612b63a2c63f9e2dac6aaa3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::Reference  <a href="namespacemrs__lib.html#af4481d1d612b63a2c63f9e2dac6aaa3c">More...</a><br /></td></tr>
+<tr class="separator:af4481d1d612b63a2c63f9e2dac6aaa3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0285b59825283d220c6b3501853a2b28"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a0285b59825283d220c6b3501853a2b28">mrs_lib::getHeading</a> (const mrs_msgs::ReferenceConstPtr &amp;data)</td></tr>
+<tr class="memdesc:a0285b59825283d220c6b3501853a2b28"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::ReferenceConstPtr  <a href="namespacemrs__lib.html#a0285b59825283d220c6b3501853a2b28">More...</a><br /></td></tr>
+<tr class="separator:a0285b59825283d220c6b3501853a2b28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa1c31d89c94806084e8da6fecd4ff575"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aa1c31d89c94806084e8da6fecd4ff575">mrs_lib::getPosition</a> (const mrs_msgs::ReferenceStamped &amp;data)</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>utility functions for getting stuff from ROS msgs </p>
+<dl class="section author"><dt>Author</dt><dd>Tomas Baca - <a href="#" onclick="location.href='mai'+'lto:'+'tom'+'as'+'.ba'+'ca'+'@fe'+'l.'+'cvu'+'t.'+'cz'; return false;">tomas<span style="display: none;">.nosp@m.</span>.bac<span style="display: none;">.nosp@m.</span>a@fel<span style="display: none;">.nosp@m.</span>.cvu<span style="display: none;">.nosp@m.</span>t.cz</a> </dd></dl>
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+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="msg__extractor_8h.html">msg_extractor.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">msg_extractor.h</div>  </div>
+</div><!--header-->
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+<a href="msg__extractor_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: TomasFormat</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef MRS_LIB_MSG_EXTRACTOR_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define MRS_LIB_MSG_EXTRACTOR_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/TrackerCommand.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/Reference.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/ReferenceStamped.h&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Odometry.h&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="attitude__converter_8h.html">mrs_lib/attitude_converter.h</a>&gt;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;{</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">/* geometry_msgs::Point //{ */</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">   29</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(<span class="keyword">const</span> geometry_msgs::Point&amp; data) {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">double</span> x = data.x;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordtype">double</span> y = data.y;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordtype">double</span> z = data.z;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordflow">return</span> std::tuple(x, y, z);</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a8fc9b477f93c9b8694fb8f90956ae830">   45</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(<span class="keyword">const</span> geometry_msgs::PointConstPtr&amp; data) {</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(*data);</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">/* geometry_msgs::Vector3 //{ */</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af79ccb18192e6ff1f1fc7fdafdee0a0b">   61</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(<span class="keyword">const</span> geometry_msgs::Vector3&amp; data) {</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">double</span> x = data.x;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">double</span> y = data.y;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">double</span> z = data.z;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">return</span> std::tuple(x, y, z);</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a32ae31e9589cb55806ec32edcf79f928">   77</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(<span class="keyword">const</span> geometry_msgs::Vector3ConstPtr&amp; data) {</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(*data);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">/* geometry_msgs::Pose //{ */</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">/* getPosition() //{ */</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">   95</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> geometry_msgs::Pose&amp; data) {</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(data.position);</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a6ee4630b5dd76e9c67f00e7f4ce35806">  107</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> geometry_msgs::PoseConstPtr&amp; data) {</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(*data);</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">/* getHeading() //{ */</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">  123</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> geometry_msgs::Pose&amp; data) {</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a>(data.orientation).<a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">getHeading</a>();</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;}</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a4c4a63d0de925cfa92316f6b5be78169">  135</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> geometry_msgs::PoseConstPtr&amp; data) {</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(*data);</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">/* getYaw() //{ */</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">  151</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(<span class="keyword">const</span> geometry_msgs::Pose&amp; data) {</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a>(data.orientation).<a class="code" href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">getYaw</a>();</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#acc3f167cadca01d5e92be7dc43078feb">  163</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(<span class="keyword">const</span> geometry_msgs::PoseConstPtr&amp; data) {</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(*data);</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">/* geometry_msgs::PoseWithCovariance //{ */</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">/* getPosition() //{ */</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a4a813c8d2b7a92090ef94ed0ccc1f2d7">  183</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> geometry_msgs::PoseWithCovariance&amp; data) {</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(data.pose);</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
+<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a2f32a3fa1e335cf1c33833ef33838f36">  195</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> geometry_msgs::PoseWithCovarianceConstPtr&amp; data) {</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(*data);</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;}</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">/* getHeading() //{ */</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
+<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#ab57f24ac15517d030da375dfd6b27f2a">  211</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> geometry_msgs::PoseWithCovariance&amp; data) {</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(data.pose);</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;}</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
+<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a0006b1926f70e598a4f22d0a4d0fd177">  223</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> geometry_msgs::PoseWithCovarianceConstPtr&amp; data) {</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(*data);</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="comment">/* getYaw() //{ */</span></div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
+<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a13152460c1973b54f71f230340b20494">  239</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(<span class="keyword">const</span> geometry_msgs::PoseWithCovariance&amp; data) {</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(data.pose);</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a2aa307f37eb6f60fc4d360adb8559946">  251</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(<span class="keyword">const</span> geometry_msgs::PoseWithCovarianceConstPtr&amp; data) {</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(*data);</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="comment">/* geometry_msgs::Twist //{ */</span></div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">/* getVelocity() //{ */</span></div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
+<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">  271</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(<span class="keyword">const</span> geometry_msgs::Twist&amp; data) {</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(data.linear);</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;}</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
+<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af2a47eec589a6a62199f9fa2b4879d5b">  283</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> geometry_msgs::TwistConstPtr&amp; data) {</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(*data);</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;}</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;<span class="comment">/* geometry_msgs::TwistWithCovariance //{ */</span></div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="comment">/* getVelocity() //{ */</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
+<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a0669aa00311586cf9882f1bccff07d16">  303</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(<span class="keyword">const</span> geometry_msgs::TwistWithCovariance&amp; data) {</div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(data.twist);</div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;}</div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
+<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#addf482f99d48899ccf29a9e89eb5771e">  315</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> geometry_msgs::TwistWithCovarianceConstPtr&amp; data) {</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(*data);</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;}</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">//}</span></div>
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+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="comment">/* nav_msgs::Odometry //{ */</span></div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="comment">/* getPosition() //{ */</span></div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
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+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(data.pose);</div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;}</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
+<div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a52981dc7eab7573aedf1d447cb40b1fb">  347</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> nav_msgs::OdometryConstPtr&amp; data) {</div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(*data);</div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;}</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="comment">/* getVelocity() //{ */</span></div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
+<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aab2704bf692a6cfc5674272fc6ff06ca">  363</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(<span class="keyword">const</span> nav_msgs::Odometry&amp; data) {</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(data.twist);</div>
+<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;}</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
+<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af8c731a97cd737d35d9524ec60f4ee2f">  375</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(<span class="keyword">const</span> nav_msgs::OdometryConstPtr&amp; data) {</div>
+<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
+<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(*data);</div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;}</div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;<span class="comment">/* getHeading() //{ */</span></div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
+<div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a482e880bcf945677389dcab02597e90f">  391</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> nav_msgs::Odometry&amp; data) {</div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(data.pose);</div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;}</div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
+<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aba8b3d81b8855577fbe90fc9a2f84fb6">  403</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> nav_msgs::OdometryConstPtr&amp; data) {</div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(*data);</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;}</div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="comment">/* getYaw() //{ */</span></div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
+<div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af17cc11983807fb3d6bd17092fa30fc4">  419</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(<span class="keyword">const</span> nav_msgs::Odometry&amp; data) {</div>
+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
+<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(data.pose);</div>
+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;}</div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
+<div class="line"><a name="l00431"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af62f21eed6f44954b6aefbf0afbbf2e0">  431</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(<span class="keyword">const</span> nav_msgs::OdometryConstPtr&amp; data) {</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a>(*data);</div>
+<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;}</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;<span class="comment">/* getPose() //{ */</span></div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
+<div class="line"><a name="l00447"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">  447</a></span>&#160;geometry_msgs::Pose <a class="code" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">getPose</a>(<span class="keyword">const</span> nav_msgs::Odometry&amp; data) {</div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keywordflow">return</span> data.pose.pose;</div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;}</div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
+<div class="line"><a name="l00459"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#acb6bfcfa0d9432d2184852b4f4d2694b">  459</a></span>&#160;geometry_msgs::Pose <a class="code" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">getPose</a>(<span class="keyword">const</span> nav_msgs::OdometryConstPtr&amp; data) {</div>
+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">getPose</a>(*data);</div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;}</div>
+<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;<span class="comment">/* mrs_msgs::TrackerCommand //{ */</span></div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
+<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="comment">/* getPosition() //{ */</span></div>
+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
+<div class="line"><a name="l00479"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a4c51dc5a87098b8ecd7d7e78599be7b8">  479</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> mrs_msgs::TrackerCommand&amp; data) {</div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
+<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(data.position);</div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;}</div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
+<div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af85023d127c2383e6825ab7e4f7da1fb">  491</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> mrs_msgs::TrackerCommandConstPtr&amp; data) {</div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(*data);</div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;}</div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
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+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="comment">/* getVelocity() //{ */</span></div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
+<div class="line"><a name="l00507"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#ade26d077c3e43c9f201a2e8d73dba2b7">  507</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(<span class="keyword">const</span> mrs_msgs::TrackerCommand&amp; data) {</div>
+<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
+<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(data.velocity);</div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;}</div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
+<div class="line"><a name="l00519"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#ad278e1089b273b3e0216977ee8df8ac5">  519</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(<span class="keyword">const</span> mrs_msgs::TrackerCommandConstPtr&amp; data) {</div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">getVelocity</a>(*data);</div>
+<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;}</div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="comment">/* getHeading() //{ */</span></div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
+<div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#ad3594a3b11dd4b67c42c25e3caba896e">  535</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> mrs_msgs::TrackerCommand&amp; data) {</div>
+<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
+<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="keywordtype">double</span> heading = 0;</div>
+<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
+<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  <span class="keywordflow">if</span> (data.use_heading) {</div>
+<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160; </div>
+<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    heading = data.heading;</div>
+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
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+<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    heading = <a class="code" href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a>(data.orientation).<a class="code" href="classmrs__lib_1_1AttitudeConverter.html#a6efdbb896bca9d52abdafb2eec0daf48">getHeading</a>();</div>
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+<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
+<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  <span class="keywordflow">return</span> heading;</div>
+<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;}</div>
+<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
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+<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(*data);</div>
+<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;}</div>
+<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
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+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;<span class="comment">/* mrs_msgs::Reference //{ */</span></div>
+<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
+<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;<span class="comment">/* getPosition() //{ */</span></div>
+<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
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+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">getXYZ</a>(data.position);</div>
+<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;}</div>
+<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
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+<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
+<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(*data);</div>
+<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;}</div>
+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
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+<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160; </div>
+<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="comment">/* getHeading() //{ */</span></div>
+<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
+<div class="line"><a name="l00606"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#af4481d1d612b63a2c63f9e2dac6aaa3c">  606</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> mrs_msgs::Reference&amp; data) {</div>
+<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160; </div>
+<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keywordflow">return</span> data.heading;</div>
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+<div class="line"><a name="l00618"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a0285b59825283d220c6b3501853a2b28">  618</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">getHeading</a>(<span class="keyword">const</span> mrs_msgs::ReferenceConstPtr&amp; data) {</div>
+<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160; </div>
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+<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
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+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;<span class="comment">/* getPosition() //{ */</span></div>
+<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
+<div class="line"><a name="l00638"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aa1c31d89c94806084e8da6fecd4ff575">  638</a></span>&#160;std::tuple&lt;double, double, double&gt; <a class="code" href="namespacemrs__lib.html#aafe68a11e627c33f976dac00f49edb03">getPosition</a>(<span class="keyword">const</span> mrs_msgs::ReferenceStamped&amp; data) {</div>
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+<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
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+<div class="ttc" id="aattitude__converter_8h_html"><div class="ttname"><a href="attitude__converter_8h.html">attitude_converter.h</a></div><div class="ttdoc">Conversions between various representations of object attitude in 3D. Supports Quaternions,...</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html_ab2e8185898d05e5c2c9f7c7bf597f9a3"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html#ab2e8185898d05e5c2c9f7c7bf597f9a3">mrs_lib::AttitudeConverter::getYaw</a></div><div class="ttdeci">double getYaw(void)</div><div class="ttdoc">get the yaw angle</div><div class="ttdef"><b>Definition:</b> attitude_converter.cpp:233</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_a6e64da46123dd4cc793419585a66e54c"><div class="ttname"><a href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">mrs_lib::getVelocity</a></div><div class="ttdeci">std::tuple&lt; double, double, double &gt; getVelocity(const geometry_msgs::Twist &amp;data)</div><div class="ttdoc">get velocity from geometry_msgs::Twist</div><div class="ttdef"><b>Definition:</b> msg_extractor.h:271</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AttitudeConverter_html"><div class="ttname"><a href="classmrs__lib_1_1AttitudeConverter.html">mrs_lib::AttitudeConverter</a></div><div class="ttdoc">The main convertor class. Instantiate with any type in constructor and get the value in any other typ...</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:153</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_a193b468ac0f1b874af53c64ea0400236"><div class="ttname"><a href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">mrs_lib::getHeading</a></div><div class="ttdeci">double getHeading(const geometry_msgs::Pose &amp;data)</div><div class="ttdoc">get heading from geometry_msgs::Pose</div><div class="ttdef"><b>Definition:</b> msg_extractor.h:123</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_af1993419f7b19d38bdbfe3ceb5b7350f"><div class="ttname"><a href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">mrs_lib::getYaw</a></div><div class="ttdeci">double getYaw(const geometry_msgs::Pose &amp;data)</div><div class="ttdoc">get yaw from geometry_msgs::Pose</div><div class="ttdef"><b>Definition:</b> msg_extractor.h:151</div></div>
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+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">mutex.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines helper routines for getting and setting variables under mutex locks.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;iostream&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;tuple&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for mutex.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> This graph shows which files directly or indirectly include this file:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
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+</div>
+<p><a href="mutex_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ae41b720a78b36db5ac51d8213972d001"><td class="memTemplParams" colspan="2">template&lt;class... GetArgs, class... SetArgs&gt; </td></tr>
+<tr class="memitem:ae41b720a78b36db5ac51d8213972d001"><td class="memTemplItemLeft" align="right" valign="top">std::tuple&lt; GetArgs... &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">mrs_lib::get_set_mutexed</a> (std::mutex &amp;mut, std::tuple&lt; GetArgs &amp;... &gt; get, std::tuple&lt; SetArgs... &gt; from_set, std::tuple&lt; SetArgs &amp;... &gt; to_set)</td></tr>
+<tr class="memdesc:ae41b720a78b36db5ac51d8213972d001"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe getter and setter for values of variables (args)  <a href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">More...</a><br /></td></tr>
+<tr class="separator:ae41b720a78b36db5ac51d8213972d001"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf62529e79b5d131ea5c0fedee10b9ca"><td class="memTemplParams" colspan="2">template&lt;class... Args&gt; </td></tr>
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+<tr class="memdesc:aaf62529e79b5d131ea5c0fedee10b9ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe getter for values of variables (args)  <a href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">More...</a><br /></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines helper routines for getting and setting variables under mutex locks. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomas Baca - <a href="#" onclick="location.href='mai'+'lto:'+'tom'+'as'+'.ba'+'ca'+'@fe'+'l.'+'cvu'+'t.'+'cz'; return false;">tomas<span style="display: none;">.nosp@m.</span>.bac<span style="display: none;">.nosp@m.</span>a@fel<span style="display: none;">.nosp@m.</span>.cvu<span style="display: none;">.nosp@m.</span>t.cz</a> </dd></dl>
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+  <div class="headertitle">
+<div class="title">mutex.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="mutex_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef MUTEX_H</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define MUTEX_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;tuple&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span>... GetArgs, <span class="keyword">class</span>... SetArgs&gt;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">   28</a></span>&#160;std::tuple&lt;GetArgs...&gt; <a class="code" href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">get_set_mutexed</a>(std::mutex&amp; mut, std::tuple&lt;GetArgs&amp;...&gt; get, std::tuple&lt;SetArgs...&gt; from_set, std::tuple&lt;SetArgs&amp;...&gt; to_set) {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  std::scoped_lock lock(mut);</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  std::tuple&lt;GetArgs...&gt; result = get;</div>
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+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span>... Args&gt;</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">   48</a></span>&#160;std::tuple&lt;Args...&gt; <a class="code" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">get_mutexed</a>(std::mutex&amp; mut, Args&amp;... args) {</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  std::scoped_lock lock(mut);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
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+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aa3a541823230c37a69e51d4e90aa54e0">   68</a></span>&#160;T <a class="code" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">get_mutexed</a>(std::mutex&amp; mut, T&amp; arg) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  std::scoped_lock lock(mut);</div>
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+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
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+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">  116</a></span>&#160;<span class="keyword">auto</span> <a class="code" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">set_mutexed</a>(std::mutex&amp; mut, <span class="keyword">const</span> T what, T&amp; where) {</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  std::scoped_lock lock(mut);</div>
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+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  where = what;</div>
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+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span>... Args&gt;</div>
+<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#aa09cacb136795c2831ed0499518a2b17">  140</a></span>&#160;<span class="keyword">auto</span> <a class="code" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">set_mutexed</a>(std::mutex&amp; mut, Args&amp;... args) {</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  std::scoped_lock lock(mut);</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <a class="code" href="namespacemrs__lib.html#acc32702fff28a4a1515a586a94f51e79">set_mutexed_impl</a>(args...);</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">return</span> std::tuple(args...);</div>
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+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span>... Args&gt;</div>
+<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a953c3bb11623623e1daef402272e6833">  165</a></span>&#160;<span class="keyword">auto</span> <a class="code" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">set_mutexed</a>(std::mutex&amp; mut, <span class="keyword">const</span> std::tuple&lt;Args...&gt; from, std::tuple&lt;Args&amp;...&gt; to) {</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  std::scoped_lock lock(mut);</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
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+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
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+<div class="ttc" id="anamespacemrs__lib_html_aaf62529e79b5d131ea5c0fedee10b9ca"><div class="ttname"><a href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib::get_mutexed</a></div><div class="ttdeci">std::tuple&lt; Args... &gt; get_mutexed(std::mutex &amp;mut, Args &amp;... args)</div><div class="ttdoc">thread-safe getter for values of variables (args)</div><div class="ttdef"><b>Definition:</b> mutex.h:48</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_acc32702fff28a4a1515a586a94f51e79"><div class="ttname"><a href="namespacemrs__lib.html#acc32702fff28a4a1515a586a94f51e79">mrs_lib::set_mutexed_impl</a></div><div class="ttdeci">void set_mutexed_impl(const T what, T &amp;where)</div><div class="ttdoc">base case of the variadic template for set_mutexed()</div><div class="ttdef"><b>Definition:</b> mutex.h:83</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_ae41b720a78b36db5ac51d8213972d001"><div class="ttname"><a href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">mrs_lib::get_set_mutexed</a></div><div class="ttdeci">std::tuple&lt; GetArgs... &gt; get_set_mutexed(std::mutex &amp;mut, std::tuple&lt; GetArgs &amp;... &gt; get, std::tuple&lt; SetArgs... &gt; from_set, std::tuple&lt; SetArgs &amp;... &gt; to_set)</div><div class="ttdoc">thread-safe getter and setter for values of variables (args)</div><div class="ttdef"><b>Definition:</b> mutex.h:28</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_afae3eb66a47b80bd8bae3b4a0c6a9368"><div class="ttname"><a href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">mrs_lib::set_mutexed</a></div><div class="ttdeci">auto set_mutexed(std::mutex &amp;mut, const T what, T &amp;where)</div><div class="ttdoc">thread-safe setter for a variable</div><div class="ttdef"><b>Definition:</b> mutex.h:116</div></div>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<!-- Generated by Doxygen 1.8.17 -->
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+
+<div class="contents">
+<div class="textblock">Here is a list of all documented namespace members with links to the namespaces they belong to:</div>
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>construct_object()
+: <a class="el" href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">mrs_lib</a>
+</li>
+<li>containerToString()
+: <a class="el" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">mrs_lib</a>
+</li>
+<li>convert()
+: <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>get_mutexed()
+: <a class="el" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib</a>
+</li>
+<li>get_set_mutexed()
+: <a class="el" href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">mrs_lib</a>
+</li>
+<li>getHeading()
+: <a class="el" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">mrs_lib</a>
+</li>
+<li>getPose()
+: <a class="el" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">mrs_lib</a>
+</li>
+<li>getPosition()
+: <a class="el" href="namespacemrs__lib.html#a6beef9718623cdac64b8b5ea35c8be4a">mrs_lib</a>
+</li>
+<li>getVelocity()
+: <a class="el" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">mrs_lib</a>
+</li>
+<li>getXYZ()
+: <a class="el" href="namespacemrs__lib.html#a9ad821408d076d95467fc662b1dac1ab">mrs_lib</a>
+</li>
+<li>getYaw()
+: <a class="el" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>message_type
+: <a class="el" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>ParamLoader::loadParam2&lt; ros::Duration &gt;()
+: <a class="el" href="namespacemrs__lib.html#a5edbd3a77e55f8ab165500ca05ad26f4">mrs_lib</a>
+</li>
+<li>probit()
+: <a class="el" href="namespacemrs__lib.html#a8b597ab1c70f0f92933e24e13f390bf5">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>remove_const()
+: <a class="el" href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>set_mutexed()
+: <a class="el" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">mrs_lib</a>
+</li>
+<li>set_mutexed_impl()
+: <a class="el" href="namespacemrs__lib.html#acc32702fff28a4a1515a586a94f51e79">mrs_lib</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/namespacemembers_func.html b/namespacemembers_func.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Namespace Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+</iframe>
+</div>
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+&#160;
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>construct_object()
+: <a class="el" href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">mrs_lib</a>
+</li>
+<li>containerToString()
+: <a class="el" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">mrs_lib</a>
+</li>
+<li>convert()
+: <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>get_mutexed()
+: <a class="el" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib</a>
+</li>
+<li>get_set_mutexed()
+: <a class="el" href="namespacemrs__lib.html#ae41b720a78b36db5ac51d8213972d001">mrs_lib</a>
+</li>
+<li>getHeading()
+: <a class="el" href="namespacemrs__lib.html#a193b468ac0f1b874af53c64ea0400236">mrs_lib</a>
+</li>
+<li>getPose()
+: <a class="el" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">mrs_lib</a>
+</li>
+<li>getPosition()
+: <a class="el" href="namespacemrs__lib.html#a4c51dc5a87098b8ecd7d7e78599be7b8">mrs_lib</a>
+</li>
+<li>getVelocity()
+: <a class="el" href="namespacemrs__lib.html#a6e64da46123dd4cc793419585a66e54c">mrs_lib</a>
+</li>
+<li>getXYZ()
+: <a class="el" href="namespacemrs__lib.html#a8fc9b477f93c9b8694fb8f90956ae830">mrs_lib</a>
+</li>
+<li>getYaw()
+: <a class="el" href="namespacemrs__lib.html#a13152460c1973b54f71f230340b20494">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>ParamLoader::loadParam2&lt; ros::Duration &gt;()
+: <a class="el" href="namespacemrs__lib.html#a5edbd3a77e55f8ab165500ca05ad26f4">mrs_lib</a>
+</li>
+<li>probit()
+: <a class="el" href="namespacemrs__lib.html#a8b597ab1c70f0f92933e24e13f390bf5">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>remove_const()
+: <a class="el" href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">mrs_lib</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>set_mutexed()
+: <a class="el" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">mrs_lib</a>
+</li>
+<li>set_mutexed_impl()
+: <a class="el" href="namespacemrs__lib.html#acc32702fff28a4a1515a586a94f51e79">mrs_lib</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: Namespace Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<li>message_type
+: <a class="el" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">mrs_lib</a>
+</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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diff --git a/namespacemrs__lib.html b/namespacemrs__lib.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib Namespace Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="doc-content">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#typedef-members">Typedefs</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace.  
+<a href="namespacemrs__lib.html#details">More...</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html">AtomicScopeFlag</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience class for automatically setting and unsetting an atomic boolean based on the object's scope. Useful e.g. for indicating whether a thread is running or not.  <a href="classmrs__lib_1_1AtomicScopeFlag.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable, as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation.  <a href="classmrs__lib_1_1AttitudeConverter.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1BatchVisualizer.html">BatchVisualizer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">library for drawing large amounts of geometric objects in RVIZ at the same time  <a href="classmrs__lib_1_1BatchVisualizer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DKF.html">DKF</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the Degenerate measurement Linear Kalman filter.  <a href="classmrs__lib_1_1DKF.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DynamicPublisher.html">DynamicPublisher</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A helper class for easy publishing of ROS messages for debugging purposes.  <a href="classmrs__lib_1_1DynamicPublisher.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1DynamicReconfigureMgr.html">DynamicReconfigureMgr</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1eigenvector__exception.html">eigenvector_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices.  <a href="structmrs__lib_1_1eigenvector__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1EulerAttitude.html">EulerAttitude</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A small class for storing the Euler angles.  <a href="classmrs__lib_1_1EulerAttitude.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1IirFilter.html">IirFilter</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1ImagePubliserData.html">ImagePubliserData</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ImagePublisher.html">ImagePublisher</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1Intersection.html">Intersection</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1JLKF.html">JLKF</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This abstract class defines common interfaces and types for a generic Kalman filter.  <a href="classmrs__lib_1_1KalmanFilter.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1KalmanFilterAloamGarm.html">KalmanFilterAloamGarm</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This abstract class defines common interfaces and types for a generic Kalman filter.  <a href="classmrs__lib_1_1KalmanFilterAloamGarm.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF.html">LKF</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the Linear Kalman filter <a class="el" href="citelist.html#CITEREF_LKF">[3]</a>.  <a href="classmrs__lib_1_1LKF.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1LKF__MRS__odom.html">LKF_MRS_odom</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MedianFilter.html">MedianFilter</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of a median filter with a fixed-length buffer.  <a href="classmrs__lib_1_1MedianFilter.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Common wrapper representing the functionality of the ros::Timer.  <a href="classmrs__lib_1_1MRSTimer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF.html">NCLKF</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This class implements the norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a>.  <a href="classmrs__lib_1_1NCLKF.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCLKF__partial.html">NCLKF_partial</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This class implements the partially norm-constrained linear Kalman filter <a class="el" href="citelist.html#CITEREF_NCLKF">[5]</a>.  <a href="classmrs__lib_1_1NCLKF__partial.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NCUKF.html">NCUKF</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NotchFilter.html">NotchFilter</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamLoader.html">ParamLoader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience class for loading parameters from rosparam server.  <a href="classmrs__lib_1_1ParamLoader.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamProvider.html">ParamProvider</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper class for <a class="el" href="classmrs__lib_1_1ParamLoader.html" title="Convenience class for loading parameters from rosparam server.">ParamLoader</a>.  <a href="classmrs__lib_1_1ParamProvider.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Polygon.html">Polygon</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Profiler.html">Profiler</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">user wrapper of the publisher handler implementation  <a href="classmrs__lib_1_1PublisherHandler.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">PublisherHandler_impl</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">implementation of the publisher handler  <a href="classmrs__lib_1_1PublisherHandler__impl.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the <a class="el" href="classmrs__lib_1_1Repredictor.html" title="Implementation of the Repredictor for fusing measurements with variable delays.">Repredictor</a> for fusing measurements with variable delays.  <a href="classmrs__lib_1_1Repredictor.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html">RepredictorAloamgarm</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the <a class="el" href="classmrs__lib_1_1RepredictorAloamgarm.html" title="Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.">RepredictorAloamgarm</a> for fusing measurements with variable delays.  <a href="classmrs__lib_1_1RepredictorAloamgarm.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a>.  <a href="classmrs__lib_1_1RHEIV.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization method.  <a href="classmrs__lib_1_1ROSTimer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Routine.html">Routine</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SafetyZone.html">SafetyZone</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">ScopeTimer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.  <a href="classmrs__lib_1_1ScopeTimer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">ScopeTimerLogger</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple file logger of scope timer and its checkpoints.  <a href="classmrs__lib_1_1ScopeTimerLogger.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">user wrapper of the service client handler implementation  <a href="classmrs__lib_1_1ServiceClientHandler.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler__impl.html">ServiceClientHandler_impl</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">implementation of the service client handler  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The main class for ROS topic subscription, message timeout handling etc.  <a href="classmrs__lib_1_1SubscribeHandler.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A helper class to simplify setup of <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> construction. This class is passed to the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> constructor and specifies its common options.  <a href="structmrs__lib_1_1SubscribeHandlerOptions.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Custom thread-based Timers with the same interface as <a class="el" href="classmrs__lib_1_1ROSTimer.html" title="ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...">mrs_lib::ROSTimer</a>.  <a href="classmrs__lib_1_1ThreadTimer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1TimeoutManager.html">TimeoutManager</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">TODO.  <a href="classmrs__lib_1_1TimeoutManager.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1TransformBroadcaster.html">TransformBroadcaster</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Wrapper for the tf2_ros::TransformBroadcaster. With each <a class="el" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93" title="check if the transform is newer than the last published one and publish it. Transform is skipped if a...">sendTransform()</a> command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output.  <a href="classmrs__lib_1_1TransformBroadcaster.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Transformer.html">Transformer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages.  <a href="classmrs__lib_1_1Transformer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html">UKF</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the Unscented Kalman filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>.  <a href="classmrs__lib_1_1UKF.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1varstepLKF.html">varstepLKF</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Vector3Converter.html">Vector3Converter</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converter of Vector3 representations. Instantiate it with any type of vector3 in constructor and convert it by assigning it to any other type of vector3 variable.  <a href="classmrs__lib_1_1Vector3Converter.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1VisualObject.html">VisualObject</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
+Typedefs</h2></td></tr>
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+template&lt;typename SubscribeHandler &gt; </td></tr>
+<tr class="memitem:afe10d9f91cc2173fa3c30021514a5c12"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">message_type</a> = typename <a class="el" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">SubscribeHandler::message_type</a></td></tr>
+<tr class="memdesc:afe10d9f91cc2173fa3c30021514a5c12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr. <br /></td></tr>
+<tr class="separator:afe10d9f91cc2173fa3c30021514a5c12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9aa5d9fb8b0e3429a52f81435a1ba2d5"><td class="memItemLeft" align="right" valign="top"><a id="a9aa5d9fb8b0e3429a52f81435a1ba2d5"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>lkf_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html">LKF</a>&lt; n_states, n_inputs, n_measurements &gt;</td></tr>
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+<tr class="separator:a19304cdf9777c9a3c811aa6059a88546"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>rheiv_t</b> = <a class="el" href="classmrs__lib_1_1RHEIV.html">RHEIV</a>&lt; n_states, n_params &gt;</td></tr>
+<tr class="separator:ace8d39fa64a12d6a40409a110b66ca6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>theta_t</b> = <a class="el" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">rheiv_t::theta_t</a></td></tr>
+<tr class="separator:acf21897841d7909efa4ec90cdd39b7fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>xs_t</b> = <a class="el" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">rheiv_t::xs_t</a></td></tr>
+<tr class="separator:aedf522c12d38b1cd713cd24ca392db63"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a601d4688003dea73e427cbd62f557032"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0770e4f020cae2e9ea332f603930b4b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Ps_t</b> = <a class="el" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">rheiv_t::Ps_t</a></td></tr>
+<tr class="separator:a2dc8de6a6eec8b198afd92671e718a9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>f_z_t</b> = <a class="el" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">rheiv_t::f_z_t</a></td></tr>
+<tr class="separator:a99123d75b954055da17288a3f152d5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>dzdx_t</b> = <a class="el" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">rheiv_t::dzdx_t</a></td></tr>
+<tr class="separator:a8922b52f8f99215122ae7610ab60fe99"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2635db3a96f0b457abe21cac4669c4a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>dumbrep_t</b> = <a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a>&lt; <a class="el" href="classmrs__lib_1_1LKF.html">lkf_t</a>, true &gt;</td></tr>
+<tr class="separator:a76992cd3a28b1cfbd0f71db4e69dfbad"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
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+<tr class="separator:a32ae31e9589cb55806ec32edcf79f928"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aafe68a11e627c33f976dac00f49edb03"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6ee4630b5dd76e9c67f00e7f4ce35806"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a193b468ac0f1b874af53c64ea0400236"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4c4a63d0de925cfa92316f6b5be78169"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af1993419f7b19d38bdbfe3ceb5b7350f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af1993419f7b19d38bdbfe3ceb5b7350f">getYaw</a> (const geometry_msgs::Pose &amp;data)</td></tr>
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+<tr class="separator:af1993419f7b19d38bdbfe3ceb5b7350f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acc3f167cadca01d5e92be7dc43078feb"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#acc3f167cadca01d5e92be7dc43078feb">getYaw</a> (const geometry_msgs::PoseConstPtr &amp;data)</td></tr>
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+<tr class="separator:acc3f167cadca01d5e92be7dc43078feb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4a813c8d2b7a92090ef94ed0ccc1f2d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2f32a3fa1e335cf1c33833ef33838f36"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ab57f24ac15517d030da375dfd6b27f2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0006b1926f70e598a4f22d0a4d0fd177"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a0006b1926f70e598a4f22d0a4d0fd177">getHeading</a> (const geometry_msgs::PoseWithCovarianceConstPtr &amp;data)</td></tr>
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+<tr class="separator:a0006b1926f70e598a4f22d0a4d0fd177"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a13152460c1973b54f71f230340b20494"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2aa307f37eb6f60fc4d360adb8559946"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6e64da46123dd4cc793419585a66e54c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af2a47eec589a6a62199f9fa2b4879d5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0669aa00311586cf9882f1bccff07d16"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a0669aa00311586cf9882f1bccff07d16">getVelocity</a> (const geometry_msgs::TwistWithCovariance &amp;data)</td></tr>
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+<tr class="separator:a0669aa00311586cf9882f1bccff07d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:addf482f99d48899ccf29a9e89eb5771e"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#addf482f99d48899ccf29a9e89eb5771e">getPosition</a> (const geometry_msgs::TwistWithCovarianceConstPtr &amp;data)</td></tr>
+<tr class="memdesc:addf482f99d48899ccf29a9e89eb5771e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from geometry_msgs::TwistWithCovarianceConstPtr  <a href="namespacemrs__lib.html#addf482f99d48899ccf29a9e89eb5771e">More...</a><br /></td></tr>
+<tr class="separator:addf482f99d48899ccf29a9e89eb5771e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6beef9718623cdac64b8b5ea35c8be4a"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a6beef9718623cdac64b8b5ea35c8be4a">getPosition</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:a6beef9718623cdac64b8b5ea35c8be4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from nav_msgs::Odometry  <a href="namespacemrs__lib.html#a6beef9718623cdac64b8b5ea35c8be4a">More...</a><br /></td></tr>
+<tr class="separator:a6beef9718623cdac64b8b5ea35c8be4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52981dc7eab7573aedf1d447cb40b1fb"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a52981dc7eab7573aedf1d447cb40b1fb">getPosition</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:a52981dc7eab7573aedf1d447cb40b1fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#a52981dc7eab7573aedf1d447cb40b1fb">More...</a><br /></td></tr>
+<tr class="separator:a52981dc7eab7573aedf1d447cb40b1fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aab2704bf692a6cfc5674272fc6ff06ca"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aab2704bf692a6cfc5674272fc6ff06ca">getVelocity</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:aab2704bf692a6cfc5674272fc6ff06ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from nav_msgs::Odometry  <a href="namespacemrs__lib.html#aab2704bf692a6cfc5674272fc6ff06ca">More...</a><br /></td></tr>
+<tr class="separator:aab2704bf692a6cfc5674272fc6ff06ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8c731a97cd737d35d9524ec60f4ee2f"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af8c731a97cd737d35d9524ec60f4ee2f">getVelocity</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:af8c731a97cd737d35d9524ec60f4ee2f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#af8c731a97cd737d35d9524ec60f4ee2f">More...</a><br /></td></tr>
+<tr class="separator:af8c731a97cd737d35d9524ec60f4ee2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a482e880bcf945677389dcab02597e90f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a482e880bcf945677389dcab02597e90f">getHeading</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:a482e880bcf945677389dcab02597e90f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from nav_msgs::Odometry  <a href="namespacemrs__lib.html#a482e880bcf945677389dcab02597e90f">More...</a><br /></td></tr>
+<tr class="separator:a482e880bcf945677389dcab02597e90f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba8b3d81b8855577fbe90fc9a2f84fb6"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aba8b3d81b8855577fbe90fc9a2f84fb6">getHeading</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:aba8b3d81b8855577fbe90fc9a2f84fb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#aba8b3d81b8855577fbe90fc9a2f84fb6">More...</a><br /></td></tr>
+<tr class="separator:aba8b3d81b8855577fbe90fc9a2f84fb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af17cc11983807fb3d6bd17092fa30fc4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af17cc11983807fb3d6bd17092fa30fc4">getYaw</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:af17cc11983807fb3d6bd17092fa30fc4"><td class="mdescLeft">&#160;</td><td class="mdescRight">get yaw from nav_msgs::Odometry  <a href="namespacemrs__lib.html#af17cc11983807fb3d6bd17092fa30fc4">More...</a><br /></td></tr>
+<tr class="separator:af17cc11983807fb3d6bd17092fa30fc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af62f21eed6f44954b6aefbf0afbbf2e0"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af62f21eed6f44954b6aefbf0afbbf2e0">getYaw</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:af62f21eed6f44954b6aefbf0afbbf2e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">get yaw from nav_msgs::OdometryConstPtr  <a href="namespacemrs__lib.html#af62f21eed6f44954b6aefbf0afbbf2e0">More...</a><br /></td></tr>
+<tr class="separator:af62f21eed6f44954b6aefbf0afbbf2e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1cd3887061c0b071a29dbbfe1b8a11dd"><td class="memItemLeft" align="right" valign="top">geometry_msgs::Pose&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">getPose</a> (const nav_msgs::Odometry &amp;data)</td></tr>
+<tr class="memdesc:a1cd3887061c0b071a29dbbfe1b8a11dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the Pose part of the nav_msgs::Odometry message  <a href="namespacemrs__lib.html#a1cd3887061c0b071a29dbbfe1b8a11dd">More...</a><br /></td></tr>
+<tr class="separator:a1cd3887061c0b071a29dbbfe1b8a11dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb6bfcfa0d9432d2184852b4f4d2694b"><td class="memItemLeft" align="right" valign="top">geometry_msgs::Pose&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#acb6bfcfa0d9432d2184852b4f4d2694b">getPose</a> (const nav_msgs::OdometryConstPtr &amp;data)</td></tr>
+<tr class="memdesc:acb6bfcfa0d9432d2184852b4f4d2694b"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the Pose part of the nav_msgs::OdometryConstPtr message  <a href="namespacemrs__lib.html#acb6bfcfa0d9432d2184852b4f4d2694b">More...</a><br /></td></tr>
+<tr class="separator:acb6bfcfa0d9432d2184852b4f4d2694b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c51dc5a87098b8ecd7d7e78599be7b8"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a4c51dc5a87098b8ecd7d7e78599be7b8">getPosition</a> (const mrs_msgs::TrackerCommand &amp;data)</td></tr>
+<tr class="memdesc:a4c51dc5a87098b8ecd7d7e78599be7b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position data from mrs_msgs::TrackerCommand  <a href="namespacemrs__lib.html#a4c51dc5a87098b8ecd7d7e78599be7b8">More...</a><br /></td></tr>
+<tr class="separator:a4c51dc5a87098b8ecd7d7e78599be7b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af85023d127c2383e6825ab7e4f7da1fb"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af85023d127c2383e6825ab7e4f7da1fb">getPosition</a> (const mrs_msgs::TrackerCommandConstPtr &amp;data)</td></tr>
+<tr class="memdesc:af85023d127c2383e6825ab7e4f7da1fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position data from mrs_msgs::TrackerCommandConstPtr  <a href="namespacemrs__lib.html#af85023d127c2383e6825ab7e4f7da1fb">More...</a><br /></td></tr>
+<tr class="separator:af85023d127c2383e6825ab7e4f7da1fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ade26d077c3e43c9f201a2e8d73dba2b7"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ade26d077c3e43c9f201a2e8d73dba2b7">getVelocity</a> (const mrs_msgs::TrackerCommand &amp;data)</td></tr>
+<tr class="memdesc:ade26d077c3e43c9f201a2e8d73dba2b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity data from mrs_msgs::TrackerCommand  <a href="namespacemrs__lib.html#ade26d077c3e43c9f201a2e8d73dba2b7">More...</a><br /></td></tr>
+<tr class="separator:ade26d077c3e43c9f201a2e8d73dba2b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad278e1089b273b3e0216977ee8df8ac5"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ad278e1089b273b3e0216977ee8df8ac5">getVelocity</a> (const mrs_msgs::TrackerCommandConstPtr &amp;data)</td></tr>
+<tr class="memdesc:ad278e1089b273b3e0216977ee8df8ac5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get velocity data from mrs_msgs::TrackerCommandConstPtr  <a href="namespacemrs__lib.html#ad278e1089b273b3e0216977ee8df8ac5">More...</a><br /></td></tr>
+<tr class="separator:ad278e1089b273b3e0216977ee8df8ac5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3594a3b11dd4b67c42c25e3caba896e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ad3594a3b11dd4b67c42c25e3caba896e">getHeading</a> (const mrs_msgs::TrackerCommand &amp;data)</td></tr>
+<tr class="memdesc:ad3594a3b11dd4b67c42c25e3caba896e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::TrackerCommand  <a href="namespacemrs__lib.html#ad3594a3b11dd4b67c42c25e3caba896e">More...</a><br /></td></tr>
+<tr class="separator:ad3594a3b11dd4b67c42c25e3caba896e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adfa03f341e40b1999bc66cdf066b714e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#adfa03f341e40b1999bc66cdf066b714e">getHeading</a> (const mrs_msgs::TrackerCommandConstPtr &amp;data)</td></tr>
+<tr class="memdesc:adfa03f341e40b1999bc66cdf066b714e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::TrackerCommandConstPtr  <a href="namespacemrs__lib.html#adfa03f341e40b1999bc66cdf066b714e">More...</a><br /></td></tr>
+<tr class="separator:adfa03f341e40b1999bc66cdf066b714e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f78d985e8d87688482e5e30c948b067"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a8f78d985e8d87688482e5e30c948b067">getPosition</a> (const mrs_msgs::Reference &amp;data)</td></tr>
+<tr class="memdesc:a8f78d985e8d87688482e5e30c948b067"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from mrs_msgs::Reference  <a href="namespacemrs__lib.html#a8f78d985e8d87688482e5e30c948b067">More...</a><br /></td></tr>
+<tr class="separator:a8f78d985e8d87688482e5e30c948b067"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa767373d0d66e633d754d5fa4db1afca"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aa767373d0d66e633d754d5fa4db1afca">getPosition</a> (const mrs_msgs::ReferenceConstPtr &amp;data)</td></tr>
+<tr class="memdesc:aa767373d0d66e633d754d5fa4db1afca"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from mrs_msgs::ReferenceConstPtr  <a href="namespacemrs__lib.html#aa767373d0d66e633d754d5fa4db1afca">More...</a><br /></td></tr>
+<tr class="separator:aa767373d0d66e633d754d5fa4db1afca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4481d1d612b63a2c63f9e2dac6aaa3c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#af4481d1d612b63a2c63f9e2dac6aaa3c">getHeading</a> (const mrs_msgs::Reference &amp;data)</td></tr>
+<tr class="memdesc:af4481d1d612b63a2c63f9e2dac6aaa3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::Reference  <a href="namespacemrs__lib.html#af4481d1d612b63a2c63f9e2dac6aaa3c">More...</a><br /></td></tr>
+<tr class="separator:af4481d1d612b63a2c63f9e2dac6aaa3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0285b59825283d220c6b3501853a2b28"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a0285b59825283d220c6b3501853a2b28">getHeading</a> (const mrs_msgs::ReferenceConstPtr &amp;data)</td></tr>
+<tr class="memdesc:a0285b59825283d220c6b3501853a2b28"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::ReferenceConstPtr  <a href="namespacemrs__lib.html#a0285b59825283d220c6b3501853a2b28">More...</a><br /></td></tr>
+<tr class="separator:a0285b59825283d220c6b3501853a2b28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa1c31d89c94806084e8da6fecd4ff575"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aa1c31d89c94806084e8da6fecd4ff575">getPosition</a> (const mrs_msgs::ReferenceStamped &amp;data)</td></tr>
+<tr class="memdesc:aa1c31d89c94806084e8da6fecd4ff575"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from mrs_msgs::ReferenceStamped  <a href="namespacemrs__lib.html#aa1c31d89c94806084e8da6fecd4ff575">More...</a><br /></td></tr>
+<tr class="separator:aa1c31d89c94806084e8da6fecd4ff575"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4a1dc71e3e48fa26fa8d2fed9211c8c"><td class="memItemLeft" align="right" valign="top">std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ae4a1dc71e3e48fa26fa8d2fed9211c8c">getPosition</a> (const mrs_msgs::ReferenceStampedConstPtr &amp;data)</td></tr>
+<tr class="memdesc:ae4a1dc71e3e48fa26fa8d2fed9211c8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get position from mrs_msgs::ReferenceStampedConstPtr  <a href="namespacemrs__lib.html#ae4a1dc71e3e48fa26fa8d2fed9211c8c">More...</a><br /></td></tr>
+<tr class="separator:ae4a1dc71e3e48fa26fa8d2fed9211c8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a58888855de6c5e0e9c0e9d9340299e54"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a58888855de6c5e0e9c0e9d9340299e54">getHeading</a> (const mrs_msgs::ReferenceStamped &amp;data)</td></tr>
+<tr class="memdesc:a58888855de6c5e0e9c0e9d9340299e54"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::ReferenceStamped  <a href="namespacemrs__lib.html#a58888855de6c5e0e9c0e9d9340299e54">More...</a><br /></td></tr>
+<tr class="separator:a58888855de6c5e0e9c0e9d9340299e54"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acfd8813200df68fad24ad3051f6b4a3d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#acfd8813200df68fad24ad3051f6b4a3d">getHeading</a> (const mrs_msgs::ReferenceStampedConstPtr &amp;data)</td></tr>
+<tr class="memdesc:acfd8813200df68fad24ad3051f6b4a3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">get heading from mrs_msgs::ReferenceStampedConstPtr  <a href="namespacemrs__lib.html#acfd8813200df68fad24ad3051f6b4a3d">More...</a><br /></td></tr>
+<tr class="separator:acfd8813200df68fad24ad3051f6b4a3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41b720a78b36db5ac51d8213972d001"><td class="memTemplParams" colspan="2">template&lt;class... GetArgs, class... SetArgs&gt; </td></tr>
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+<tr class="separator:ae41b720a78b36db5ac51d8213972d001"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf62529e79b5d131ea5c0fedee10b9ca"><td class="memTemplParams" colspan="2">template&lt;class... Args&gt; </td></tr>
+<tr class="memitem:aaf62529e79b5d131ea5c0fedee10b9ca"><td class="memTemplItemLeft" align="right" valign="top">std::tuple&lt; Args... &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">get_mutexed</a> (std::mutex &amp;mut, Args &amp;... args)</td></tr>
+<tr class="memdesc:aaf62529e79b5d131ea5c0fedee10b9ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe getter for values of variables (args)  <a href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">More...</a><br /></td></tr>
+<tr class="separator:aaf62529e79b5d131ea5c0fedee10b9ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa3a541823230c37a69e51d4e90aa54e0"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:aa3a541823230c37a69e51d4e90aa54e0"><td class="memTemplItemLeft" align="right" valign="top">T&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#aa3a541823230c37a69e51d4e90aa54e0">get_mutexed</a> (std::mutex &amp;mut, T &amp;arg)</td></tr>
+<tr class="memdesc:aa3a541823230c37a69e51d4e90aa54e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe getter a value from a variable  <a href="namespacemrs__lib.html#aa3a541823230c37a69e51d4e90aa54e0">More...</a><br /></td></tr>
+<tr class="separator:aa3a541823230c37a69e51d4e90aa54e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acc32702fff28a4a1515a586a94f51e79"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:acc32702fff28a4a1515a586a94f51e79"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#acc32702fff28a4a1515a586a94f51e79">set_mutexed_impl</a> (const T what, T &amp;where)</td></tr>
+<tr class="memdesc:acc32702fff28a4a1515a586a94f51e79"><td class="mdescLeft">&#160;</td><td class="mdescRight">base case of the variadic template for <a class="el" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368" title="thread-safe setter for a variable">set_mutexed()</a>  <a href="namespacemrs__lib.html#acc32702fff28a4a1515a586a94f51e79">More...</a><br /></td></tr>
+<tr class="separator:acc32702fff28a4a1515a586a94f51e79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad43e8bfd91df3dae404738c355b136e9"><td class="memTemplParams" colspan="2">template&lt;class T , class... Args&gt; </td></tr>
+<tr class="memitem:ad43e8bfd91df3dae404738c355b136e9"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ad43e8bfd91df3dae404738c355b136e9">set_mutexed_impl</a> (const T what, T &amp;where, Args... args)</td></tr>
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+<tr class="separator:ad43e8bfd91df3dae404738c355b136e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afae3eb66a47b80bd8bae3b4a0c6a9368"><td class="memTemplParams" colspan="2">template&lt;class T &gt; </td></tr>
+<tr class="memitem:afae3eb66a47b80bd8bae3b4a0c6a9368"><td class="memTemplItemLeft" align="right" valign="top">auto&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">set_mutexed</a> (std::mutex &amp;mut, const T what, T &amp;where)</td></tr>
+<tr class="memdesc:afae3eb66a47b80bd8bae3b4a0c6a9368"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe setter for a variable  <a href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">More...</a><br /></td></tr>
+<tr class="separator:afae3eb66a47b80bd8bae3b4a0c6a9368"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa09cacb136795c2831ed0499518a2b17"><td class="memTemplParams" colspan="2">template&lt;class... Args&gt; </td></tr>
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+<tr class="memdesc:aa09cacb136795c2831ed0499518a2b17"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe setter for multiple variables  <a href="namespacemrs__lib.html#aa09cacb136795c2831ed0499518a2b17">More...</a><br /></td></tr>
+<tr class="separator:aa09cacb136795c2831ed0499518a2b17"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a953c3bb11623623e1daef402272e6833"><td class="memTemplParams" colspan="2">template&lt;class... Args&gt; </td></tr>
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+<tr class="memdesc:a953c3bb11623623e1daef402272e6833"><td class="mdescLeft">&#160;</td><td class="mdescRight">thread-safe setter for multiple variables  <a href="namespacemrs__lib.html#a953c3bb11623623e1daef402272e6833">More...</a><br /></td></tr>
+<tr class="separator:a953c3bb11623623e1daef402272e6833"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5edbd3a77e55f8ab165500ca05ad26f4"><td class="memItemLeft" align="right" valign="top">template&lt;&gt; </td></tr>
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+<tr class="separator:a5edbd3a77e55f8ab165500ca05ad26f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b3a11cf5354658548afb9fd6f241d72"><td class="memItemLeft" align="right" valign="top">template&lt;&gt; </td></tr>
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+<tr class="separator:a3b3a11cf5354658548afb9fd6f241d72"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba6c393721f74871465ddcfdf81129df"><td class="memItemLeft" align="right" valign="top"><a id="aba6c393721f74871465ddcfdf81129df"></a>
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+<tr class="separator:a6bd2a4b1c7a370ecf5abcb082d68f02f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2ea25e5751113297f3f31a85f1d16128"><td class="memItemLeft" align="right" valign="top"><a id="a2ea25e5751113297f3f31a85f1d16128"></a>
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+<tr class="separator:a2ea25e5751113297f3f31a85f1d16128"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adcd658b38c38786fa906e95b1252393a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a10c2af0f8c317177ca6abca5fd80a52a"><td class="memTemplParams" colspan="2">template&lt;typename Iterator &gt; </td></tr>
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+<tr class="separator:a10c2af0f8c317177ca6abca5fd80a52a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c0c2c8502894646615382a9134c866a"><td class="memTemplParams" colspan="2">template&lt;typename Container &gt; </td></tr>
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+<tr class="separator:a1c0c2c8502894646615382a9134c866a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5bd70829aedd3ff4a67d8902855eed9"><td class="memTemplParams" colspan="2">template&lt;typename Container &gt; </td></tr>
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+<tr class="separator:ad5bd70829aedd3ff4a67d8902855eed9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a006d8eb9265ad5e8b2f908df6deb55b5"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:a006d8eb9265ad5e8b2f908df6deb55b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a860d8ff84b45a6a45863d410b54a6dec"><td class="memTemplParams" colspan="2"><a id="a860d8ff84b45a6a45863d410b54a6dec"></a>
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+<tr class="separator:a860d8ff84b45a6a45863d410b54a6dec"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a66ab536759b8cab264138c098008c9ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a33e6c2a6dc8a68fff27563dfecea3a1b"><td class="memItemLeft" align="right" valign="top"><a id="a33e6c2a6dc8a68fff27563dfecea3a1b"></a>
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+<tr class="separator:a33e6c2a6dc8a68fff27563dfecea3a1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a74b11ef397455639a0554b5a0d56feef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af29d018de3b4ae3f9b5f5a6a0cc464e1"><td class="memItemLeft" align="right" valign="top"><a id="af29d018de3b4ae3f9b5f5a6a0cc464e1"></a>
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+<tr class="separator:af29d018de3b4ae3f9b5f5a6a0cc464e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad80951e65e82208fa0d3237d1f556fd6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aaf11a9ed2e77e94bc7e69ba967e6951e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>DEGREES_PER_RADIAN</b> = 180.0 / M_PI</td></tr>
+<tr class="separator:a936ac9b087815cba51d58fc1f79e0df5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>WGS84_A</b> = 6378137.0</td></tr>
+<tr class="separator:a4c4520b3f93b357fba7dbde5fdb88a9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>WGS84_B</b> = 6356752.31424518</td></tr>
+<tr class="separator:a11399734244c9153d49d112430b60d25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa70cc3837c0593f3e96f709a0e4e70eb"><td class="memItemLeft" align="right" valign="top"><a id="aa70cc3837c0593f3e96f709a0e4e70eb"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>WGS84_F</b> = 0.0033528107</td></tr>
+<tr class="separator:aa70cc3837c0593f3e96f709a0e4e70eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:addc466a492d572ac9cb23fa2b2a12b4f"><td class="memItemLeft" align="right" valign="top"><a id="addc466a492d572ac9cb23fa2b2a12b4f"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>WGS84_E</b> = 0.0818191908</td></tr>
+<tr class="separator:addc466a492d572ac9cb23fa2b2a12b4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c9799ab8aefb1b9b773cca6d94155a0"><td class="memItemLeft" align="right" valign="top"><a id="a1c9799ab8aefb1b9b773cca6d94155a0"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>WGS84_EP</b> = 0.0820944379</td></tr>
+<tr class="separator:a1c9799ab8aefb1b9b773cca6d94155a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a22a17cb8ca411d7cd8b249ba01803aa1"><td class="memItemLeft" align="right" valign="top"><a id="a22a17cb8ca411d7cd8b249ba01803aa1"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_K0</b> = 0.9996</td></tr>
+<tr class="separator:a22a17cb8ca411d7cd8b249ba01803aa1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a634786a113a5b773e4b51d6235d33ece"><td class="memItemLeft" align="right" valign="top"><a id="a634786a113a5b773e4b51d6235d33ece"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_FE</b> = 500000.0</td></tr>
+<tr class="separator:a634786a113a5b773e4b51d6235d33ece"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab78760950af658f01b7c63bd34b98426"><td class="memItemLeft" align="right" valign="top"><a id="ab78760950af658f01b7c63bd34b98426"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_FN_N</b> = 0.0</td></tr>
+<tr class="separator:ab78760950af658f01b7c63bd34b98426"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a773b1a8b8b3ae12a59841c1a962883a9"><td class="memItemLeft" align="right" valign="top"><a id="a773b1a8b8b3ae12a59841c1a962883a9"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_FN_S</b> = 10000000.0</td></tr>
+<tr class="separator:a773b1a8b8b3ae12a59841c1a962883a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af541534981355b9db12705282012786a"><td class="memItemLeft" align="right" valign="top"><a id="af541534981355b9db12705282012786a"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_E2</b> = (WGS84_E * WGS84_E)</td></tr>
+<tr class="separator:af541534981355b9db12705282012786a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8699db73026f4d4bc2f9147815c92eec"><td class="memItemLeft" align="right" valign="top"><a id="a8699db73026f4d4bc2f9147815c92eec"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_E4</b> = (UTM_E2 * UTM_E2)</td></tr>
+<tr class="separator:a8699db73026f4d4bc2f9147815c92eec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab21d4291d66fc4b83ec94cf6cfaa5740"><td class="memItemLeft" align="right" valign="top"><a id="ab21d4291d66fc4b83ec94cf6cfaa5740"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_E6</b> = (UTM_E4 * UTM_E2)</td></tr>
+<tr class="separator:ab21d4291d66fc4b83ec94cf6cfaa5740"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a062139851c2a315cee44dd8c57453e14"><td class="memItemLeft" align="right" valign="top"><a id="a062139851c2a315cee44dd8c57453e14"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>UTM_EP2</b> = (UTM_E2 / (1 - UTM_E2))</td></tr>
+<tr class="separator:a062139851c2a315cee44dd8c57453e14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af0b5a638f6885ae6c848cc8ba6633ab8"><td class="memItemLeft" align="right" valign="top"><a id="af0b5a638f6885ae6c848cc8ba6633ab8"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>n_states</b> = 4</td></tr>
+<tr class="separator:af0b5a638f6885ae6c848cc8ba6633ab8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad6f7031fab6870460e48019d0ac9bc1"><td class="memItemLeft" align="right" valign="top"><a id="aad6f7031fab6870460e48019d0ac9bc1"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>n_inputs</b> = 2</td></tr>
+<tr class="separator:aad6f7031fab6870460e48019d0ac9bc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af754ee73d8ace41fc7c548876dbc85c0"><td class="memItemLeft" align="right" valign="top"><a id="af754ee73d8ace41fc7c548876dbc85c0"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>n_measurements</b> = 2</td></tr>
+<tr class="separator:af754ee73d8ace41fc7c548876dbc85c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a45a6d658a0ccfafbb641821f11d2d2f8"><td class="memItemLeft" align="right" valign="top"><a id="a45a6d658a0ccfafbb641821f11d2d2f8"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>n_states_norm_constrained</b> = 2</td></tr>
+<tr class="separator:a45a6d658a0ccfafbb641821f11d2d2f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a509abd0a0bce319690b77d83cee06ea1"><td class="memItemLeft" align="right" valign="top"><a id="a509abd0a0bce319690b77d83cee06ea1"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>n_params</b> = 4</td></tr>
+<tr class="separator:a509abd0a0bce319690b77d83cee06ea1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. </p>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a6bd2a4b1c7a370ecf5abcb082d68f02f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6bd2a4b1c7a370ecf5abcb082d68f02f">&#9670;&nbsp;</a></span>construct_object()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Class , class ... Types&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">void mrs_lib::construct_object </td>
+          <td>(</td>
+          <td class="paramtype">Class &amp;&#160;</td>
+          <td class="paramname"><em>object</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Types ...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Helper function for object construstion e.g. in case of member objects. This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction. This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference argument and not as a return type. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">object</td><td>The object to be constructed. </td></tr>
+    <tr><td class="paramname">args</td><td>These arguments are passed to the object constructor. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="subscribe_handler_2example_8cpp-example.html#a3">subscribe_handler/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="ad5bd70829aedd3ff4a67d8902855eed9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5bd70829aedd3ff4a67d8902855eed9">&#9670;&nbsp;</a></span>containerToString() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Container &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string mrs_lib::containerToString </td>
+          <td>(</td>
+          <td class="paramtype">const Container &amp;&#160;</td>
+          <td class="paramname"><em>cont</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>delimiter</em> = <code>&quot;,&#160;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convenience function for converting containers to strings (e.g. for printing). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cont</td><td>the container that will be converted to <code>std::string</code>. </td></tr>
+    <tr><td class="paramname">delimiter</td><td>will be used to separate the elements in the output. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>elements of the container from <code>begin</code> to <code>end</code> (excluding), converted to string and separated by <code>delimiter</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a1c0c2c8502894646615382a9134c866a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c0c2c8502894646615382a9134c866a">&#9670;&nbsp;</a></span>containerToString() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Container &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string mrs_lib::containerToString </td>
+          <td>(</td>
+          <td class="paramtype">const Container &amp;&#160;</td>
+          <td class="paramname"><em>cont</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>delimiter</em> = <code>&quot;,&#160;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convenience function for converting containers to strings (e.g. for printing). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cont</td><td>the container that will be converted to <code>std::string</code>. </td></tr>
+    <tr><td class="paramname">delimiter</td><td>will be used to separate the elements in the output. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>elements of the container from <code>begin</code> to <code>end</code> (excluding), converted to string and separated by <code>delimiter</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a10c2af0f8c317177ca6abca5fd80a52a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a10c2af0f8c317177ca6abca5fd80a52a">&#9670;&nbsp;</a></span>containerToString() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Iterator &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string mrs_lib::containerToString </td>
+          <td>(</td>
+          <td class="paramtype">const Iterator&#160;</td>
+          <td class="paramname"><em>begin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Iterator&#160;</td>
+          <td class="paramname"><em>end</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>delimiter</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convenience function for converting container ranges to strings (e.g. for printing). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">begin</td><td>first element of the container that will be converted to <code>std::string</code>. </td></tr>
+    <tr><td class="paramname">end</td><td>one-after-the-last element of the container that will be converted to <code>std::string</code>. </td></tr>
+    <tr><td class="paramname">delimiter</td><td>will be used to separate the elements in the output. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>elements of the container from <code>begin</code> to <code>end</code> (excluding), converted to string and separated by <code>delimiter</code>. </dd></dl>
+
+</div>
+</div>
+<a id="adcd658b38c38786fa906e95b1252393a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcd658b38c38786fa906e95b1252393a">&#9670;&nbsp;</a></span>containerToString() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename Iterator &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string mrs_lib::containerToString </td>
+          <td>(</td>
+          <td class="paramtype">const Iterator&#160;</td>
+          <td class="paramname"><em>begin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const Iterator&#160;</td>
+          <td class="paramname"><em>end</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>delimiter</em> = <code>&quot;,&#160;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convenience function for converting container ranges to strings (e.g. for printing). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">begin</td><td>first element of the container that will be converted to <code>std::string</code>. </td></tr>
+    <tr><td class="paramname">end</td><td>one-after-the-last element of the container that will be converted to <code>std::string</code>. </td></tr>
+    <tr><td class="paramname">delimiter</td><td>will be used to separate the elements in the output. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>elements of the container from <code>begin</code> to <code>end</code> (excluding), converted to string and separated by <code>delimiter</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a66ab536759b8cab264138c098008c9ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66ab536759b8cab264138c098008c9ca">&#9670;&nbsp;</a></span>convert()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ret_t , typename in_t &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">ret_t mrs_lib::convert </td>
+          <td>(</td>
+          <td class="paramtype">const in_t &amp;&#160;</td>
+          <td class="paramname"><em>in</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Converts between different vector representations. </p>
+<p>Usage (for full example, see the file <a class="el" href="vector__converter_2example_8cpp.html" title="Example file for the convert() vector type conversion function.">vector_converter/example.cpp</a>):</p>
+<p><code>auto out = <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca" title="Converts between different vector representations.">mrs_lib::convert</a>&lt;to_type&gt;(in);</code></p>
+<p>Supported types by default are: <code>Eigen::Vector3d</code>, <code>cv::Vec3d</code>, <code>geometry_msgs::Vector3</code>. If you want to use this with a new type, it should work automagically if it provides a reasonable API. If it doesn't work by default, you just need to implement the respective convertTo() and convertFrom() functions for that type (see the file <a class="el" href="vector__converter_8hpp.html" title="Implements the convertTo() and convertFrom() functions for conversion between different vector repres...">impl/vector_converter.hpp</a> and the example file <a class="el" href="vector__converter_2example_8cpp.html" title="Example file for the convert() vector type conversion function.">vector_converter/example.cpp</a>).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">in</td><td>The input vector to be converted to the <code>ret_t</code> type.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">ret_t</td><td>Type of the return vector. You need to specify this when calling the function. </td></tr>
+    <tr><td class="paramname">in_t</td><td>Type of the input vector. This parameter is deduced by the compiler and doesn't need to be specified in usual cases. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aaf62529e79b5d131ea5c0fedee10b9ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf62529e79b5d131ea5c0fedee10b9ca">&#9670;&nbsp;</a></span>get_mutexed() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class... Args&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;Args...&gt; mrs_lib::get_mutexed </td>
+          <td>(</td>
+          <td class="paramtype">std::mutex &amp;&#160;</td>
+          <td class="paramname"><em>mut</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Args &amp;...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>thread-safe getter for values of variables (args) </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">Args</td><td>types of the variables </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mut</td><td>mutex which protects the variables </td></tr>
+    <tr><td class="paramname">args</td><td>variables to obtain the values from</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>std::tuple of the values </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="repredictor_2example_8cpp-example.html#a14">repredictor/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<a id="aa3a541823230c37a69e51d4e90aa54e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3a541823230c37a69e51d4e90aa54e0">&#9670;&nbsp;</a></span>get_mutexed() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">T mrs_lib::get_mutexed </td>
+          <td>(</td>
+          <td class="paramtype">std::mutex &amp;&#160;</td>
+          <td class="paramname"><em>mut</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>arg</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>thread-safe getter a value from a variable </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">T</td><td>type of the variable </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mut</td><td>mutex which protects the variable </td></tr>
+    <tr><td class="paramname">arg</td><td>variable to obtain the value from</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>value of the variable </dd></dl>
+
+</div>
+</div>
+<a id="ae41b720a78b36db5ac51d8213972d001"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41b720a78b36db5ac51d8213972d001">&#9670;&nbsp;</a></span>get_set_mutexed()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class... GetArgs, class... SetArgs&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;GetArgs...&gt; mrs_lib::get_set_mutexed </td>
+          <td>(</td>
+          <td class="paramtype">std::mutex &amp;&#160;</td>
+          <td class="paramname"><em>mut</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::tuple&lt; GetArgs &amp;... &gt;&#160;</td>
+          <td class="paramname"><em>get</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::tuple&lt; SetArgs... &gt;&#160;</td>
+          <td class="paramname"><em>from_set</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::tuple&lt; SetArgs &amp;... &gt;&#160;</td>
+          <td class="paramname"><em>to_set</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>thread-safe getter and setter for values of variables (args) </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">GetArgs</td><td>types of the variables to get </td></tr>
+    <tr><td class="paramname">SetArgs</td><td>types of the variables to set </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mut</td><td>mutex which protects the variables </td></tr>
+    <tr><td class="paramname">get</td><td>tuple of variable references to obtain the values from </td></tr>
+    <tr><td class="paramname">to_set</td><td>tuple of variable references to set the new values from <code>from_set</code> </td></tr>
+    <tr><td class="paramname">from_set</td><td>tuple of the new values to be set to <code>to_set</code> </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>tuple of the values from <code>get</code> </dd></dl>
+
+</div>
+</div>
+<a id="a193b468ac0f1b874af53c64ea0400236"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a193b468ac0f1b874af53c64ea0400236">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[1/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Pose &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from geometry_msgs::Pose </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="a4c4a63d0de925cfa92316f6b5be78169"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c4a63d0de925cfa92316f6b5be78169">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[2/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from geometry_msgs::PoseConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="ab57f24ac15517d030da375dfd6b27f2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab57f24ac15517d030da375dfd6b27f2a">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[3/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseWithCovariance &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from geometry_msgs::PoseWithCovariance </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose with covariance</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="a0006b1926f70e598a4f22d0a4d0fd177"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0006b1926f70e598a4f22d0a4d0fd177">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[4/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseWithCovarianceConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from geometry_msgs::PoseWithCovarianceConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose with covariance (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="af4481d1d612b63a2c63f9e2dac6aaa3c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4481d1d612b63a2c63f9e2dac6aaa3c">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[5/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::Reference &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from mrs_msgs::Reference </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>reference</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="a0285b59825283d220c6b3501853a2b28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0285b59825283d220c6b3501853a2b28">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[6/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::ReferenceConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from mrs_msgs::ReferenceConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>reference (ContrPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="a58888855de6c5e0e9c0e9d9340299e54"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58888855de6c5e0e9c0e9d9340299e54">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[7/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::ReferenceStamped &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from mrs_msgs::ReferenceStamped </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>referencestamped</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="acfd8813200df68fad24ad3051f6b4a3d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfd8813200df68fad24ad3051f6b4a3d">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[8/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::ReferenceStampedConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from mrs_msgs::ReferenceStampedConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>referencestamped (ContrPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="ad3594a3b11dd4b67c42c25e3caba896e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3594a3b11dd4b67c42c25e3caba896e">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[9/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrackerCommand &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from mrs_msgs::TrackerCommand </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>position command</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="adfa03f341e40b1999bc66cdf066b714e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adfa03f341e40b1999bc66cdf066b714e">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[10/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrackerCommandConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from mrs_msgs::TrackerCommandConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>position command (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="a482e880bcf945677389dcab02597e90f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a482e880bcf945677389dcab02597e90f">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[11/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::Odometry &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from nav_msgs::Odometry </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="aba8b3d81b8855577fbe90fc9a2f84fb6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba8b3d81b8855577fbe90fc9a2f84fb6">&#9670;&nbsp;</a></span>getHeading() <span class="overload">[12/12]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getHeading </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::OdometryConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get heading from nav_msgs::OdometryConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>heading </dd></dl>
+
+</div>
+</div>
+<a id="a1cd3887061c0b071a29dbbfe1b8a11dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1cd3887061c0b071a29dbbfe1b8a11dd">&#9670;&nbsp;</a></span>getPose() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">geometry_msgs::Pose mrs_lib::getPose </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::Odometry &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>returns the Pose part of the nav_msgs::Odometry message </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>pose </dd></dl>
+
+</div>
+</div>
+<a id="acb6bfcfa0d9432d2184852b4f4d2694b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb6bfcfa0d9432d2184852b4f4d2694b">&#9670;&nbsp;</a></span>getPose() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">geometry_msgs::Pose mrs_lib::getPose </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::OdometryConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>returns the Pose part of the nav_msgs::OdometryConstPtr message </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>pose </dd></dl>
+
+</div>
+</div>
+<a id="aafe68a11e627c33f976dac00f49edb03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aafe68a11e627c33f976dac00f49edb03">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[1/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Pose &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from geometry_msgs::Pose </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a6ee4630b5dd76e9c67f00e7f4ce35806"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ee4630b5dd76e9c67f00e7f4ce35806">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[2/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from geometry_msgs::PoseConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a4a813c8d2b7a92090ef94ed0ccc1f2d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a813c8d2b7a92090ef94ed0ccc1f2d7">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[3/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseWithCovariance &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from geometry_msgs::PoseWithCovariance </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose with covariance</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a2f32a3fa1e335cf1c33833ef33838f36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2f32a3fa1e335cf1c33833ef33838f36">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[4/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseWithCovarianceConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from geometry_msgs::PoseWithCovarianceConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose with covariance (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="af2a47eec589a6a62199f9fa2b4879d5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2a47eec589a6a62199f9fa2b4879d5b">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[5/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TwistConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from geometry_msgs::TwistConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>twist (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="addf482f99d48899ccf29a9e89eb5771e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#addf482f99d48899ccf29a9e89eb5771e">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[6/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TwistWithCovarianceConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from geometry_msgs::TwistWithCovarianceConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>twistwithcovariance (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a8f78d985e8d87688482e5e30c948b067"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8f78d985e8d87688482e5e30c948b067">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[7/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::Reference &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from mrs_msgs::Reference </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>reference</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="aa767373d0d66e633d754d5fa4db1afca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa767373d0d66e633d754d5fa4db1afca">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[8/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::ReferenceConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from mrs_msgs::ReferenceConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>reference (ContrPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="aa1c31d89c94806084e8da6fecd4ff575"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa1c31d89c94806084e8da6fecd4ff575">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[9/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::ReferenceStamped &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from mrs_msgs::ReferenceStamped </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>reference stamped</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="ae4a1dc71e3e48fa26fa8d2fed9211c8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4a1dc71e3e48fa26fa8d2fed9211c8c">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[10/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::ReferenceStampedConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from mrs_msgs::ReferenceStampedConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>reference stamped (ContrPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a4c51dc5a87098b8ecd7d7e78599be7b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c51dc5a87098b8ecd7d7e78599be7b8">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[11/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrackerCommand &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position data from mrs_msgs::TrackerCommand </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>position command</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="af85023d127c2383e6825ab7e4f7da1fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af85023d127c2383e6825ab7e4f7da1fb">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[12/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrackerCommandConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position data from mrs_msgs::TrackerCommandConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>position command (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a6beef9718623cdac64b8b5ea35c8be4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6beef9718623cdac64b8b5ea35c8be4a">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[13/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::Odometry &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from nav_msgs::Odometry </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a52981dc7eab7573aedf1d447cb40b1fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52981dc7eab7573aedf1d447cb40b1fb">&#9670;&nbsp;</a></span>getPosition() <span class="overload">[14/14]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getPosition </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::OdometryConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from nav_msgs::OdometryConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a6e64da46123dd4cc793419585a66e54c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e64da46123dd4cc793419585a66e54c">&#9670;&nbsp;</a></span>getVelocity() <span class="overload">[1/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Twist &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get velocity from geometry_msgs::Twist </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>twist</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a0669aa00311586cf9882f1bccff07d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0669aa00311586cf9882f1bccff07d16">&#9670;&nbsp;</a></span>getVelocity() <span class="overload">[2/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::TwistWithCovariance &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get velocity from geometry_msgs::TwistWithCovariance </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>twistwithcovariance</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="ade26d077c3e43c9f201a2e8d73dba2b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade26d077c3e43c9f201a2e8d73dba2b7">&#9670;&nbsp;</a></span>getVelocity() <span class="overload">[3/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrackerCommand &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get velocity data from mrs_msgs::TrackerCommand </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>position command</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="ad278e1089b273b3e0216977ee8df8ac5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad278e1089b273b3e0216977ee8df8ac5">&#9670;&nbsp;</a></span>getVelocity() <span class="overload">[4/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const mrs_msgs::TrackerCommandConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get velocity data from mrs_msgs::TrackerCommandConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>position command (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="aab2704bf692a6cfc5674272fc6ff06ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab2704bf692a6cfc5674272fc6ff06ca">&#9670;&nbsp;</a></span>getVelocity() <span class="overload">[5/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::Odometry &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get position from nav_msgs::Odometry </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="af8c731a97cd737d35d9524ec60f4ee2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8c731a97cd737d35d9524ec60f4ee2f">&#9670;&nbsp;</a></span>getVelocity() <span class="overload">[6/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getVelocity </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::OdometryConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get velocity from nav_msgs::OdometryConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a9ad821408d076d95467fc662b1dac1ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ad821408d076d95467fc662b1dac1ab">&#9670;&nbsp;</a></span>getXYZ() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getXYZ </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Point &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get XYZ from geometry_msgs::Point </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>point</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a8fc9b477f93c9b8694fb8f90956ae830"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8fc9b477f93c9b8694fb8f90956ae830">&#9670;&nbsp;</a></span>getXYZ() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getXYZ </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PointConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get XYZ from geometry_msgs::PointConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>point (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="af79ccb18192e6ff1f1fc7fdafdee0a0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af79ccb18192e6ff1f1fc7fdafdee0a0b">&#9670;&nbsp;</a></span>getXYZ() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getXYZ </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Vector3 &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get XYZ from geometry_msgs::Vector3 </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>vector3</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="a32ae31e9589cb55806ec32edcf79f928"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32ae31e9589cb55806ec32edcf79f928">&#9670;&nbsp;</a></span>getXYZ() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::tuple&lt;double, double, double&gt; mrs_lib::getXYZ </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Vector3ConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get XYZ from geometry_msgs::Vector3ConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>vector3 (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>x, y, z </dd></dl>
+
+</div>
+</div>
+<a id="af1993419f7b19d38bdbfe3ceb5b7350f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1993419f7b19d38bdbfe3ceb5b7350f">&#9670;&nbsp;</a></span>getYaw() <span class="overload">[1/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::Pose &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get yaw from geometry_msgs::Pose </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="acc3f167cadca01d5e92be7dc43078feb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc3f167cadca01d5e92be7dc43078feb">&#9670;&nbsp;</a></span>getYaw() <span class="overload">[2/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get yaw from geometry_msgs::PoseConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="a13152460c1973b54f71f230340b20494"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13152460c1973b54f71f230340b20494">&#9670;&nbsp;</a></span>getYaw() <span class="overload">[3/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseWithCovariance &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get yaw from geometry_msgs::PoseWithCovariance </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose with covariance</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="a2aa307f37eb6f60fc4d360adb8559946"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2aa307f37eb6f60fc4d360adb8559946">&#9670;&nbsp;</a></span>getYaw() <span class="overload">[4/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">const geometry_msgs::PoseWithCovarianceConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get yaw from geometry_msgs::PoseWithCovarianceConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>pose with covariance (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="af17cc11983807fb3d6bd17092fa30fc4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af17cc11983807fb3d6bd17092fa30fc4">&#9670;&nbsp;</a></span>getYaw() <span class="overload">[5/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::Odometry &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get yaw from nav_msgs::Odometry </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="af62f21eed6f44954b6aefbf0afbbf2e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af62f21eed6f44954b6aefbf0afbbf2e0">&#9670;&nbsp;</a></span>getYaw() <span class="overload">[6/6]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::getYaw </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::OdometryConstPtr &amp;&#160;</td>
+          <td class="paramname"><em>data</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>get yaw from nav_msgs::OdometryConstPtr </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">data</td><td>odometry (ConstPtr)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>yaw </dd></dl>
+
+</div>
+</div>
+<a id="a3b3a11cf5354658548afb9fd6f241d72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b3a11cf5354658548afb9fd6f241d72">&#9670;&nbsp;</a></span>ParamLoader::loadParam2&lt; ros::Duration &gt;() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">ros::Duration <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">mrs_lib::ParamLoader::loadParam2</a>&lt; ros::Duration &gt; </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>An overload for loading ros::Duration. </p>
+<p>The duration will be loaded as a <code>double</code>, representing a number of seconds, and then converted to ros::Duration.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a5edbd3a77e55f8ab165500ca05ad26f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5edbd3a77e55f8ab165500ca05ad26f4">&#9670;&nbsp;</a></span>ParamLoader::loadParam2&lt; ros::Duration &gt;() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">ros::Duration <a class="el" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">mrs_lib::ParamLoader::loadParam2</a>&lt; ros::Duration &gt; </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const ros::Duration &amp;&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>An overload for loading ros::Duration. </p>
+<p>The duration will be loaded as a <code>double</code>, representing a number of seconds, and then converted to ros::Duration.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>Name of the parameter in the rosparam server. </td></tr>
+    <tr><td class="paramname">default_value</td><td>This value will be used if the parameter name is not found in the rosparam server. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The loaded parameter value. </dd></dl>
+
+</div>
+</div>
+<a id="a8b597ab1c70f0f92933e24e13f390bf5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b597ab1c70f0f92933e24e13f390bf5">&#9670;&nbsp;</a></span>probit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">double mrs_lib::probit </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>quantile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Inverse cumulative distribution function of the standard normal probability distribution. </p>
+<p>Implements the quantile function of a standard normal probability distribution (aka the probit function, see <a href="https://en.wikipedia.org/wiki/Probit">https://en.wikipedia.org/wiki/Probit</a>). The implementation uses the Beasley-Springer-Moro approximation (see page 68 of Glasserman, Paul, "Monte Carlo Methods in Financial Engineering. Stochastic Modelling and Applied Probability", 2003, doi:10.1007/978-0-387-21617-1, available at <a href="https://sci-hub.se/10.1007/978-0-387-21617-1">https://sci-hub.se/10.1007/978-0-387-21617-1</a>).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">quantile</td><td>the probability that a realization of a random variable with a standard normal dostribution is equal or less than the returned value (see <a href="https://en.wikipedia.org/wiki/Quantile">https://en.wikipedia.org/wiki/Quantile</a>).</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>such a value that the probability that a realization of a random variable with a standard normal dostribution is equal or less is <code>quantile</code>. </dd></dl>
+
+</div>
+</div>
+<a id="a006d8eb9265ad5e8b2f908df6deb55b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a006d8eb9265ad5e8b2f908df6deb55b5">&#9670;&nbsp;</a></span>remove_const()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">T::iterator mrs_lib::remove_const </td>
+          <td>(</td>
+          <td class="paramtype">const typename T::const_iterator &amp;&#160;</td>
+          <td class="paramname"><em>it</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>cont</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convenience class for removing const-ness from a container iterator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">it</td><td>the iterator from which const-ness should be removed. </td></tr>
+    <tr><td class="paramname">cont</td><td>the corresponding container of the iterator. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a non-const iterator, pointing to the same element as <code>it</code>. </dd></dl>
+
+</div>
+</div>
+<a id="aa09cacb136795c2831ed0499518a2b17"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa09cacb136795c2831ed0499518a2b17">&#9670;&nbsp;</a></span>set_mutexed() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class... Args&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">auto mrs_lib::set_mutexed </td>
+          <td>(</td>
+          <td class="paramtype">std::mutex &amp;&#160;</td>
+          <td class="paramname"><em>mut</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Args &amp;...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>thread-safe setter for multiple variables </p>
+<p>example: set_mutexed(my_mutex_, a, a_, b, b_, c, c_); where a, b, c are the values to be set a_, b_, c_ are the variables to be updated</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">Args</td><td>types of the variables </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mut</td><td>mutex to be locked </td></tr>
+    <tr><td class="paramname">args</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>alternating list of values that were just set </dd></dl>
+
+</div>
+</div>
+<a id="a953c3bb11623623e1daef402272e6833"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a953c3bb11623623e1daef402272e6833">&#9670;&nbsp;</a></span>set_mutexed() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class... Args&gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">auto mrs_lib::set_mutexed </td>
+          <td>(</td>
+          <td class="paramtype">std::mutex &amp;&#160;</td>
+          <td class="paramname"><em>mut</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::tuple&lt; Args... &gt;&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::tuple&lt; Args &amp;... &gt;&#160;</td>
+          <td class="paramname"><em>to</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>thread-safe setter for multiple variables </p>
+<p>example: set_mutexed(mu_mutex, std::tuple(a, b, c), std::forward_as_tuple(a_, b_, c_)); where a, b, c are the values to be set a_, b_, c_ are the updated variables</p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">Args</td><td>types of the variables </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mut</td><td>mutex to be locked </td></tr>
+    <tr><td class="paramname">from</td><td>std::tuple of the values </td></tr>
+    <tr><td class="paramname">to</td><td>std::tuple of reference to the variablaes</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd></dd></dl>
+
+</div>
+</div>
+<a id="afae3eb66a47b80bd8bae3b4a0c6a9368"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afae3eb66a47b80bd8bae3b4a0c6a9368">&#9670;&nbsp;</a></span>set_mutexed() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;class T &gt; </div>
+      <table class="memname">
+        <tr>
+          <td class="memname">auto mrs_lib::set_mutexed </td>
+          <td>(</td>
+          <td class="paramtype">std::mutex &amp;&#160;</td>
+          <td class="paramname"><em>mut</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const T&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>where</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>thread-safe setter for a variable </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">T</td><td>type of the variable </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">mut</td><td>mutex to be locked </td></tr>
+    <tr><td class="paramname">what</td><td>value to set </td></tr>
+    <tr><td class="paramname">where</td><td>reference to be set</td></tr>
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+</dl>
+
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#acc32702fff28a4a1515a586a94f51e79">&#9670;&nbsp;</a></span>set_mutexed_impl() <span class="overload">[1/2]</span></h2>
+
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+template&lt;class T &gt; </div>
+      <table class="memname">
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+          <td>(</td>
+          <td class="paramtype">const T&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>where</em>&#160;</td>
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+          <td></td><td></td>
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+<p>base case of the variadic template for <a class="el" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368" title="thread-safe setter for a variable">set_mutexed()</a> </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
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+  <table class="params">
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+<h2 class="memtitle"><span class="permalink"><a href="#ad43e8bfd91df3dae404738c355b136e9">&#9670;&nbsp;</a></span>set_mutexed_impl() <span class="overload">[2/2]</span></h2>
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+template&lt;class T , class... Args&gt; </div>
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+          <td class="memname">void mrs_lib::set_mutexed_impl </td>
+          <td>(</td>
+          <td class="paramtype">const T&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">T &amp;&#160;</td>
+          <td class="paramname"><em>where</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Args...&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>general case of the variadic template for <a class="el" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368" title="thread-safe setter for a variable">set_mutexed()</a> </p>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
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+    <tr><td class="paramname">Args</td><td>types of the rest of the variables </td></tr>
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+  </dd>
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li>
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+}
+
+#nav-tree-contents {
+  margin: 6px 0px 0px 0px;
+}
+
+#nav-tree {
+  background-image:url('nav_h.png');
+  background-repeat:repeat-x;
+  background-color: #F9FAFC;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#nav-sync {
+  position:absolute;
+  top:5px;
+  right:24px;
+  z-index:0;
+}
+
+#nav-sync img {
+  opacity:0.3;
+}
+
+#nav-sync img:hover {
+  opacity:0.9;
+}
+
+@media print
+{
+  #nav-tree { display: none; }
+  div.ui-resizable-handle { display: none; position: relative; }
+}
+
diff --git a/navtree.js b/navtree.js
new file mode 100644
index 00000000..edc31efc
--- /dev/null
+++ b/navtree.js
@@ -0,0 +1,544 @@
+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2019 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of version 2 of the GNU General Public License as 
+ published by the Free Software Foundation.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
+var navTreeSubIndices = new Array();
+var arrowDown = '&#9660;';
+var arrowRight = '&#9658;';
+
+function getData(varName)
+{
+  var i = varName.lastIndexOf('/');
+  var n = i>=0 ? varName.substring(i+1) : varName;
+  return eval(n.replace(/\-/g,'_'));
+}
+
+function stripPath(uri)
+{
+  return uri.substring(uri.lastIndexOf('/')+1);
+}
+
+function stripPath2(uri)
+{
+  var i = uri.lastIndexOf('/');
+  var s = uri.substring(i+1);
+  var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
+  return m ? uri.substring(i-6) : s;
+}
+
+function hashValue()
+{
+  return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,'');
+}
+
+function hashUrl()
+{
+  return '#'+hashValue();
+}
+
+function pathName()
+{
+  return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, '');
+}
+
+function localStorageSupported()
+{
+  try {
+    return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem;
+  }
+  catch(e) {
+    return false;
+  }
+}
+
+function storeLink(link)
+{
+  if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) {
+      window.localStorage.setItem('navpath',link);
+  }
+}
+
+function deleteLink()
+{
+  if (localStorageSupported()) {
+    window.localStorage.setItem('navpath','');
+  }
+}
+
+function cachedLink()
+{
+  if (localStorageSupported()) {
+    return window.localStorage.getItem('navpath');
+  } else {
+    return '';
+  }
+}
+
+function getScript(scriptName,func,show)
+{
+  var head = document.getElementsByTagName("head")[0];
+  var script = document.createElement('script');
+  script.id = scriptName;
+  script.type = 'text/javascript';
+  script.onload = func;
+  script.src = scriptName+'.js';
+  head.appendChild(script);
+}
+
+function createIndent(o,domNode,node,level)
+{
+  var level=-1;
+  var n = node;
+  while (n.parentNode) { level++; n=n.parentNode; }
+  if (node.childrenData) {
+    var imgNode = document.createElement("span");
+    imgNode.className = 'arrow';
+    imgNode.style.paddingLeft=(16*level).toString()+'px';
+    imgNode.innerHTML=arrowRight;
+    node.plus_img = imgNode;
+    node.expandToggle = document.createElement("a");
+    node.expandToggle.href = "javascript:void(0)";
+    node.expandToggle.onclick = function() {
+      if (node.expanded) {
+        $(node.getChildrenUL()).slideUp("fast");
+        node.plus_img.innerHTML=arrowRight;
+        node.expanded = false;
+      } else {
+        expandNode(o, node, false, false);
+      }
+    }
+    node.expandToggle.appendChild(imgNode);
+    domNode.appendChild(node.expandToggle);
+  } else {
+    var span = document.createElement("span");
+    span.className = 'arrow';
+    span.style.width   = 16*(level+1)+'px';
+    span.innerHTML = '&#160;';
+    domNode.appendChild(span);
+  }
+}
+
+var animationInProgress = false;
+
+function gotoAnchor(anchor,aname,updateLocation)
+{
+  var pos, docContent = $('#doc-content');
+  var ancParent = $(anchor.parent());
+  if (ancParent.hasClass('memItemLeft') ||
+      ancParent.hasClass('memtitle') ||
+      ancParent.hasClass('fieldname') ||
+      ancParent.hasClass('fieldtype') ||
+      ancParent.is(':header'))
+  {
+    pos = ancParent.position().top;
+  } else if (anchor.position()) {
+    pos = anchor.position().top;
+  }
+  if (pos) {
+    var dist = Math.abs(Math.min(
+               pos-docContent.offset().top,
+               docContent[0].scrollHeight-
+               docContent.height()-docContent.scrollTop()));
+    animationInProgress=true;
+    docContent.animate({
+      scrollTop: pos + docContent.scrollTop() - docContent.offset().top
+    },Math.max(50,Math.min(500,dist)),function(){
+      if (updateLocation) window.location.href=aname;
+      animationInProgress=false;
+    });
+  }
+}
+
+function newNode(o, po, text, link, childrenData, lastNode)
+{
+  var node = new Object();
+  node.children = Array();
+  node.childrenData = childrenData;
+  node.depth = po.depth + 1;
+  node.relpath = po.relpath;
+  node.isLast = lastNode;
+
+  node.li = document.createElement("li");
+  po.getChildrenUL().appendChild(node.li);
+  node.parentNode = po;
+
+  node.itemDiv = document.createElement("div");
+  node.itemDiv.className = "item";
+
+  node.labelSpan = document.createElement("span");
+  node.labelSpan.className = "label";
+
+  createIndent(o,node.itemDiv,node,0);
+  node.itemDiv.appendChild(node.labelSpan);
+  node.li.appendChild(node.itemDiv);
+
+  var a = document.createElement("a");
+  node.labelSpan.appendChild(a);
+  node.label = document.createTextNode(text);
+  node.expanded = false;
+  a.appendChild(node.label);
+  if (link) {
+    var url;
+    if (link.substring(0,1)=='^') {
+      url = link.substring(1);
+      link = url;
+    } else {
+      url = node.relpath+link;
+    }
+    a.className = stripPath(link.replace('#',':'));
+    if (link.indexOf('#')!=-1) {
+      var aname = '#'+link.split('#')[1];
+      var srcPage = stripPath(pathName());
+      var targetPage = stripPath(link.split('#')[0]);
+      a.href = srcPage!=targetPage ? url : "javascript:void(0)";
+      a.onclick = function(){
+        storeLink(link);
+        if (!$(a).parent().parent().hasClass('selected'))
+        {
+          $('.item').removeClass('selected');
+          $('.item').removeAttr('id');
+          $(a).parent().parent().addClass('selected');
+          $(a).parent().parent().attr('id','selected');
+        }
+        var anchor = $(aname);
+        gotoAnchor(anchor,aname,true);
+      };
+    } else {
+      a.href = url;
+      a.onclick = function() { storeLink(link); }
+    }
+  } else {
+    if (childrenData != null)
+    {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+  }
+
+  node.childrenUL = null;
+  node.getChildrenUL = function() {
+    if (!node.childrenUL) {
+      node.childrenUL = document.createElement("ul");
+      node.childrenUL.className = "children_ul";
+      node.childrenUL.style.display = "none";
+      node.li.appendChild(node.childrenUL);
+    }
+    return node.childrenUL;
+  };
+
+  return node;
+}
+
+function showRoot()
+{
+  var headerHeight = $("#top").height();
+  var footerHeight = $("#nav-path").height();
+  var windowHeight = $(window).height() - headerHeight - footerHeight;
+  (function (){ // retry until we can scroll to the selected item
+    try {
+      var navtree=$('#nav-tree');
+      navtree.scrollTo('#selected',100,{offset:-windowHeight/2});
+    } catch (err) {
+      setTimeout(arguments.callee, 0);
+    }
+  })();
+}
+
+function expandNode(o, node, imm, showRoot)
+{
+  if (node.childrenData && !node.expanded) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        expandNode(o, node, imm, showRoot);
+      }, showRoot);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).slideDown("fast");
+      node.plus_img.innerHTML = arrowDown;
+      node.expanded = true;
+    }
+  }
+}
+
+function glowEffect(n,duration)
+{
+  n.addClass('glow').delay(duration).queue(function(next){
+    $(this).removeClass('glow');next();
+  });
+}
+
+function highlightAnchor()
+{
+  var aname = hashUrl();
+  var anchor = $(aname);
+  if (anchor.parent().attr('class')=='memItemLeft'){
+    var rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+    glowEffect(rows.children(),300); // member without details
+  } else if (anchor.parent().attr('class')=='fieldname'){
+    glowEffect(anchor.parent().parent(),1000); // enum value
+  } else if (anchor.parent().attr('class')=='fieldtype'){
+    glowEffect(anchor.parent().parent(),1000); // struct field
+  } else if (anchor.parent().is(":header")) {
+    glowEffect(anchor.parent(),1000); // section header
+  } else {
+    glowEffect(anchor.next(),1000); // normal member
+  }
+}
+
+function selectAndHighlight(hash,n)
+{
+  var a;
+  if (hash) {
+    var link=stripPath(pathName())+':'+hash.substring(1);
+    a=$('.item a[class$="'+link+'"]');
+  }
+  if (a && a.length) {
+    a.parent().parent().addClass('selected');
+    a.parent().parent().attr('id','selected');
+    highlightAnchor();
+  } else if (n) {
+    $(n.itemDiv).addClass('selected');
+    $(n.itemDiv).attr('id','selected');
+  }
+  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+    $('#nav-sync').css('top','30px');
+  } else {
+    $('#nav-sync').css('top','5px');
+  }
+  showRoot();
+}
+
+function showNode(o, node, index, hash)
+{
+  if (node && node.childrenData) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        showNode(o,node,index,hash);
+      },true);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).css({'display':'block'});
+      node.plus_img.innerHTML = arrowDown;
+      node.expanded = true;
+      var n = node.children[o.breadcrumbs[index]];
+      if (index+1<o.breadcrumbs.length) {
+        showNode(o,n,index+1,hash);
+      } else {
+        if (typeof(n.childrenData)==='string') {
+          var varName = n.childrenData;
+          getScript(n.relpath+varName,function(){
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          },true);
+        } else {
+          var rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, true);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    }
+  } else {
+    selectAndHighlight(hash);
+  }
+}
+
+function removeToInsertLater(element) {
+  var parentNode = element.parentNode;
+  var nextSibling = element.nextSibling;
+  parentNode.removeChild(element);
+  return function() {
+    if (nextSibling) {
+      parentNode.insertBefore(element, nextSibling);
+    } else {
+      parentNode.appendChild(element);
+    }
+  };
+}
+
+function getNode(o, po)
+{
+  var insertFunction = removeToInsertLater(po.li);
+  po.childrenVisited = true;
+  var l = po.childrenData.length-1;
+  for (var i in po.childrenData) {
+    var nodeData = po.childrenData[i];
+    po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2],
+      i==l);
+  }
+  insertFunction();
+}
+
+function gotoNode(o,subIndex,root,hash,relpath)
+{
+  var nti = navTreeSubIndices[subIndex][root+hash];
+  o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
+  if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
+    navTo(o,NAVTREE[0][1],"",relpath);
+    $('.item').removeClass('selected');
+    $('.item').removeAttr('id');
+  }
+  if (o.breadcrumbs) {
+    o.breadcrumbs.unshift(0); // add 0 for root node
+    showNode(o, o.node, 0, hash);
+  }
+}
+
+function navTo(o,root,hash,relpath)
+{
+  var link = cachedLink();
+  if (link) {
+    var parts = link.split('#');
+    root = parts[0];
+    if (parts.length>1) hash = '#'+parts[1].replace(/[^\w\-]/g,'');
+    else hash='';
+  }
+  if (hash.match(/^#l\d+$/)) {
+    var anchor=$('a[name='+hash.substring(1)+']');
+    glowEffect(anchor.parent(),1000); // line number
+    hash=''; // strip line number anchors
+  }
+  var url=root+hash;
+  var i=-1;
+  while (NAVTREEINDEX[i+1]<=url) i++;
+  if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
+  if (navTreeSubIndices[i]) {
+    gotoNode(o,i,root,hash,relpath)
+  } else {
+    getScript(relpath+'navtreeindex'+i,function(){
+      navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
+      if (navTreeSubIndices[i]) {
+        gotoNode(o,i,root,hash,relpath);
+      }
+    },true);
+  }
+}
+
+function showSyncOff(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+}
+
+function showSyncOn(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+}
+
+function toggleSyncButton(relpath)
+{
+  var navSync = $('#nav-sync');
+  if (navSync.hasClass('sync')) {
+    navSync.removeClass('sync');
+    showSyncOff(navSync,relpath);
+    storeLink(stripPath2(pathName())+hashUrl());
+  } else {
+    navSync.addClass('sync');
+    showSyncOn(navSync,relpath);
+    deleteLink();
+  }
+}
+
+var loadTriggered = false;
+var readyTriggered = false;
+var loadObject,loadToRoot,loadUrl,loadRelPath;
+
+$(window).on('load',function(){
+  if (readyTriggered) { // ready first
+    navTo(loadObject,loadToRoot,loadUrl,loadRelPath);
+    showRoot();
+  }
+  loadTriggered=true;
+});
+
+function initNavTree(toroot,relpath)
+{
+  var o = new Object();
+  o.toroot = toroot;
+  o.node = new Object();
+  o.node.li = document.getElementById("nav-tree-contents");
+  o.node.childrenData = NAVTREE;
+  o.node.children = new Array();
+  o.node.childrenUL = document.createElement("ul");
+  o.node.getChildrenUL = function() { return o.node.childrenUL; };
+  o.node.li.appendChild(o.node.childrenUL);
+  o.node.depth = 0;
+  o.node.relpath = relpath;
+  o.node.expanded = false;
+  o.node.isLast = true;
+  o.node.plus_img = document.createElement("span");
+  o.node.plus_img.className = 'arrow';
+  o.node.plus_img.innerHTML = arrowRight;
+
+  if (localStorageSupported()) {
+    var navSync = $('#nav-sync');
+    if (cachedLink()) {
+      showSyncOff(navSync,relpath);
+      navSync.removeClass('sync');
+    } else {
+      showSyncOn(navSync,relpath);
+    }
+    navSync.click(function(){ toggleSyncButton(relpath); });
+  }
+
+  if (loadTriggered) { // load before ready
+    navTo(o,toroot,hashUrl(),relpath);
+    showRoot();
+  } else { // ready before load
+    loadObject  = o;
+    loadToRoot  = toroot;
+    loadUrl     = hashUrl();
+    loadRelPath = relpath;
+    readyTriggered=true;
+  }
+
+  $(window).bind('hashchange', function(){
+     if (window.location.hash && window.location.hash.length>1){
+       var a;
+       if ($(location).attr('hash')){
+         var clslink=stripPath(pathName())+':'+hashValue();
+         a=$('.item a[class$="'+clslink.replace(/</g,'\\3c ')+'"]');
+       }
+       if (a==null || !$(a).parent().parent().hasClass('selected')){
+         $('.item').removeClass('selected');
+         $('.item').removeAttr('id');
+       }
+       var link=stripPath2(pathName());
+       navTo(o,link,hashUrl(),relpath);
+     } else if (!animationInProgress) {
+       $('#doc-content').scrollTop(0);
+       $('.item').removeClass('selected');
+       $('.item').removeAttr('id');
+       navTo(o,toroot,hashUrl(),relpath);
+     }
+  })
+}
+/* @license-end */
diff --git a/navtreedata.js b/navtreedata.js
new file mode 100644
index 00000000..993661eb
--- /dev/null
+++ b/navtreedata.js
@@ -0,0 +1,69 @@
+/*
+@licstart  The following is the entire license notice for the
+JavaScript code in this file.
+
+Copyright (C) 1997-2019 by Dimitri van Heesch
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of version 2 of the GNU General Public License as published by
+the Free Software Foundation
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License along
+with this program; if not, write to the Free Software Foundation, Inc.,
+51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+@licend  The above is the entire license notice
+for the JavaScript code in this file
+*/
+var NAVTREE =
+[
+  [ "mrs_lib", "index.html", [
+    [ "MRS libraries", "index.html", [
+      [ "Overview", "index.html#autotoc_md1", null ],
+      [ "Notable libraries:", "index.html#autotoc_md2", null ]
+    ] ],
+    [ "Bibliography", "citelist.html", null ],
+    [ "Namespaces", "namespaces.html", [
+      [ "Namespace List", "namespaces.html", "namespaces_dup" ],
+      [ "Namespace Members", "namespacemembers.html", [
+        [ "All", "namespacemembers.html", null ],
+        [ "Functions", "namespacemembers_func.html", null ],
+        [ "Typedefs", "namespacemembers_type.html", null ]
+      ] ]
+    ] ],
+    [ "Classes", "annotated.html", [
+      [ "Class List", "annotated.html", "annotated_dup" ],
+      [ "Class Index", "classes.html", null ],
+      [ "Class Hierarchy", "hierarchy.html", "hierarchy" ],
+      [ "Class Members", "functions.html", [
+        [ "All", "functions.html", "functions_dup" ],
+        [ "Functions", "functions_func.html", "functions_func" ],
+        [ "Variables", "functions_vars.html", null ],
+        [ "Typedefs", "functions_type.html", null ],
+        [ "Related Functions", "functions_rela.html", null ]
+      ] ]
+    ] ],
+    [ "Files", "files.html", [
+      [ "File List", "files.html", "files_dup" ]
+    ] ],
+    [ "Examples", "examples.html", "examples" ]
+  ] ]
+];
+
+var NAVTREEINDEX =
+[
+".html",
+"classmrs__lib_1_1MedianFilter.html#ae810bd254e4fccfeb883b4585062f166",
+"classmrs__lib_1_1ServiceClientHandler.html#a6da5592ce8388bd1aa08b63fd3d3d060",
+"classmrs__lib_1_1geometry_1_1Ellipse.html",
+"misc_8h.html#a62f7d942a2445dc2c362678523966241",
+"structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310"
+];
+
+var SYNCONMSG = 'click to disable panel synchronisation';
+var SYNCOFFMSG = 'click to enable panel synchronisation';
\ No newline at end of file
diff --git a/navtreeindex0.js b/navtreeindex0.js
new file mode 100644
index 00000000..10b0e5e0
--- /dev/null
+++ b/navtreeindex0.js
@@ -0,0 +1,253 @@
+var NAVTREEINDEX0 =
+{
+".html":[3,0,0],
+".html":[3,0,1,0],
+".html":[3,0,1,1],
+".html":[3,0,2],
+".html":[3,0,3],
+"annotated.html":[3,0],
+"attitude__converter_8h.html":[4,0,0,0,3],
+"attitude__converter_8h.html#aeebfeed9c234fa645d39c864fa3ecaab":[4,0,0,0,3,12],
+"attitude__converter_8h.html#aeebfeed9c234fa645d39c864fa3ecaaba79f06980715846067ad2fee2cc6b8cbb":[4,0,0,0,3,12,1],
+"attitude__converter_8h.html#aeebfeed9c234fa645d39c864fa3ecaabafe6a6511417aaee7441f6a708cd217b1":[4,0,0,0,3,12,0],
+"attitude__converter_8h_source.html":[4,0,0,0,3],
+"batch__visualizer_8h.html":[4,0,0,0,4],
+"batch__visualizer_8h.html#a51b7645de121a21302986b8fa7ff2759":[4,0,0,0,4,1],
+"batch__visualizer_8h_source.html":[4,0,0,0,4],
+"citelist.html":[1],
+"classDynamicPublisher_1_1impl.html":[3,0,0,0],
+"classDynamicPublisher_1_1impl.html#a19f0bc67633228eb49d3fdfedab4bc6c":[3,0,0,0,1],
+"classDynamicPublisher_1_1impl.html#a1fe7ec12024c0e3e1c907a34acfdfd64":[3,0,0,0,2],
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+<div class="title">nckf.h</div>  </div>
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+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef NCKFSYSTEMMODELS_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define NCKFSYSTEMMODELS_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/lkf.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="ukf_8h.html">mrs_lib/ukf.h</a>&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="comment">/* class NCLKF //{ */</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html">   28</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1NCLKF.html">NCLKF</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1LKF.html">LKF</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="comment">/* NCLKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">   32</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">n</a> = n_states;                       </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">   33</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">m</a> = n_inputs;                       </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">   34</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">p</a> = n_measurements;                 </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#aa670be9fba29c7d8d8c7c849d9d844d1">   35</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1LKF.html">LKF&lt;n, m, p&gt;</a>;                     </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888">   37</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">Base_class::x_t</a>;                </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">   38</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">Base_class::u_t</a>;                </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a80db36613d09068f8daa0dc7e735dc64">   39</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">Base_class::z_t</a>;                </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3">   40</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">Base_class::P_t</a>;                </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">   41</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">Base_class::R_t</a>;                </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">   42</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">Base_class::Q_t</a>;                </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71">   43</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">Base_class::statecov_t</a>;  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#aa7b38a32abe6a319930d6392178d5e3e">   45</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">Base_class::A_t</a>;                </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8">   46</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">Base_class::B_t</a>;                </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460">   47</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">Base_class::H_t</a>;                </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">   48</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">Base_class::K_t</a>;                </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">   58</a></span>&#160;    <a class="code" href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">NCLKF</a>(){};</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">   68</a></span>&#160;    <a class="code" href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">NCLKF</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, <span class="keyword">const</span> <span class="keywordtype">double</span> l) : <a class="code" href="classmrs__lib_1_1KalmanFilter.html">Base_class</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>), l(l) {};</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">double</span> l;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">/* computeKalmanGain() method //{ */</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">K_t</a> computeKalmanGain(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">const</span> R_t W = <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> * sc.P * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() + R;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">const</span> R_t W_inv = Base_class::invert_W(W);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">K_t</a> K_orig = sc.P * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() * W_inv;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">const</span> z_t inn = z - (<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> * sc.x); <span class="comment">// innovation</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">const</span> x_t x = sc.x + K_orig * inn;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> inn_scale = inn.transpose() * W_inv * inn;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> x_norm = x.norm();</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">K_t</a> K = K_orig + (l/x_norm - 1.0) * x * (inn.transpose() * W_inv) / inn_scale;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordflow">return</span> K;</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    }</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  };</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">/* class NCLKF_partial //{ */</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements, <span class="keywordtype">int</span> n_norm_constrained_states&gt;</div>
+<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html">  112</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1NCLKF__partial.html">NCLKF_partial</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1NCLKF.html">NCLKF</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">/* NCLKF_partial definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">  116</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a> = n_states;                       </div>
+<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">  117</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">m</a> = n_inputs;                       </div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">  118</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">p</a> = n_measurements;                 </div>
+<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a139afd8f356f87aa0faadea3e8878649">  119</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a139afd8f356f87aa0faadea3e8878649">nq</a> = n_norm_constrained_states;     </div>
+<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a13dac50b4906535f6ff5837b1057597f">  120</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1NCLKF.html">NCLKF&lt;n, m, p&gt;</a>;                   </div>
+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#afaae66f623e768b19c0160fb21be9373">  122</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888">Base_class::x_t</a>;                </div>
+<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a5718270798d8227ccaf76a5d3b97fda5">  123</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">Base_class::u_t</a>;                </div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#ad5308432a3010edabc4598a92786fad5">  124</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a80db36613d09068f8daa0dc7e735dc64">Base_class::z_t</a>;                </div>
+<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#aef875cb026a1a0d8df31a8fc3f02e63b">  125</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3">Base_class::P_t</a>;                </div>
+<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a7754b24176416b24869450c88a1328aa">  126</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">Base_class::R_t</a>;                </div>
+<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a2ba0fce7ba12825a0c498f7676848fce">  127</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">Base_class::Q_t</a>;                </div>
+<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a2bc4e99acb7f38dc41d6e63cdce5e805">  128</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">statecov_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71">Base_class::statecov_t</a>;  </div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a6d62f542c4ee39019c9466e82ed0cd51">  130</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#aa7b38a32abe6a319930d6392178d5e3e">Base_class::A_t</a>;                </div>
+<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a749bb8222899e2b056e27875c0f951f6">  131</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8">Base_class::B_t</a>;                </div>
+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a12079d59b1f0e949c535e478d8e1d88c">  132</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460">Base_class::H_t</a>;                </div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">  133</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">K_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">Base_class::K_t</a>;                </div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">  135</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">indices_t</a> = std::array&lt;int, nq&gt;;            </div>
+<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">  136</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">xq_t</a> = Eigen::Matrix&lt;double, nq, 1&gt;;           </div>
+<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">  137</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">Hq_t</a> = Eigen::Matrix&lt;double, p, nq&gt;;           </div>
+<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">  138</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">Kq_t</a> = Eigen::Matrix&lt;double, nq, p&gt;;           </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428">  148</a></span>&#160;    <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428">NCLKF_partial</a>(){};</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">  159</a></span>&#160;    <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">NCLKF_partial</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">A_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">B_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">H_t</a>&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, <span class="keyword">const</span> <span class="keywordtype">double</span> l, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">indices_t</a>&amp; norm_constrained_indices)</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      : <a class="code" href="classmrs__lib_1_1KalmanFilter.html">Base_class</a>(<a class="code" href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">A</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">B</a>, <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, l),</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        norm_indices(norm_constrained_indices)</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    {</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a> &gt;= 0)</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      {</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; idx : norm_indices)</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        {</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordflow">if</span> (idx &gt; <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>)</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          {</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            ROS_ERROR(<span class="stringliteral">&quot;[NCLKF_partial]: Index of a norm-constrained state (%d) cannot be higher than the number of states (%d)! Setting it to zero.&quot;</span>, idx, <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">n</a>);</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            idx = 0;</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          }</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="keywordflow">if</span> (idx &lt; 0)</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          {</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            ROS_ERROR(<span class="stringliteral">&quot;[NCLKF_partial]: Index of a norm-constrained state (%d) cannot be less than zero! Setting it to zero.&quot;</span>, idx);</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            idx = 0;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          }</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    };</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">indices_t</a> norm_indices;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">/* helper methods for Eigen matrix subscripting //{ */</span></div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    </div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, <span class="keywordtype">size_t</span> out_rows, <span class="keywordtype">size_t</span> out_cols&gt;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    Eigen::Matrix&lt;T, out_rows, out_cols&gt; select_indices(<span class="keyword">const</span> Eigen::Matrix&lt;T, rows, cols&gt;&amp; mat, <span class="keyword">const</span> std::array&lt;int, out_rows&gt;&amp; row_indices, <span class="keyword">const</span> std::array&lt;int, out_cols&gt;&amp; col_indices)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      Eigen::Matrix&lt;T, out_rows, cols&gt; tmp;</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; (int)out_rows; it++)</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      {</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keyword">const</span> <span class="keyword">auto</span> row = row_indices[it];</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        assert(rows &lt; 0 || row &lt; rows);</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        tmp.row(it) = mat.row(row);</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      Eigen::Matrix&lt;T, out_rows, out_cols&gt; ret;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; (int)out_cols; it++)</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      {</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keyword">const</span> <span class="keyword">auto</span> col = col_indices[it];</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        assert(cols &lt; 0 || col &lt; cols);</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        tmp.col(it) = tmp.col(col);</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      }</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    </div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    }</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, <span class="keywordtype">size_t</span> out_rows&gt;</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    Eigen::Matrix&lt;T, out_rows, cols&gt; select_rows(<span class="keyword">const</span> Eigen::Matrix&lt;T, rows, cols&gt;&amp; mat, <span class="keyword">const</span> std::array&lt;int, out_rows&gt;&amp; row_indices)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      Eigen::Matrix&lt;T, out_rows, cols&gt; ret;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; (int)out_rows; it++)</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      {</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keyword">const</span> <span class="keyword">auto</span> row = row_indices[it];</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        assert(rows &lt; 0 || row &lt; rows);</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        ret.row(it) = mat.row(row);</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    }</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, <span class="keywordtype">size_t</span> out_cols&gt;</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    Eigen::Matrix&lt;T, rows, out_cols&gt; select_cols(<span class="keyword">const</span> Eigen::Matrix&lt;T, rows, cols&gt;&amp; mat, <span class="keyword">const</span> std::array&lt;int, out_cols&gt;&amp; col_indices)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      Eigen::Matrix&lt;T, rows, out_cols&gt; ret;</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; (int)out_cols; it++)</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      {</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keyword">const</span> <span class="keyword">auto</span> col = col_indices[it];</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        assert(cols &lt; 0 || col &lt; cols);</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        ret.col(it) = mat.col(col);</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      }</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    }</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    </div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> rows, <span class="keywordtype">size_t</span> out_rows&gt;</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    Eigen::Matrix&lt;T, out_rows, 1&gt; select_indices(<span class="keyword">const</span> Eigen::Matrix&lt;T, rows, 1&gt;&amp; vec, <span class="keyword">const</span> std::array&lt;int, out_rows&gt;&amp; row_indices)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordflow">return</span> select_rows(vec, row_indices);</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    }</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    </div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, <span class="keywordtype">size_t</span> n_rows&gt;</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordtype">void</span> set_rows(<span class="keyword">const</span> Eigen::Matrix&lt;T, (<span class="keywordtype">size_t</span>)n_rows, cols&gt;&amp; from_mat, Eigen::Matrix&lt;T, rows, cols&gt;&amp; to_mat, <span class="keyword">const</span> std::array&lt;int, n_rows&gt;&amp; row_indices)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> rit = 0; rit &lt; (int)n_rows; rit++)</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      {</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keyword">const</span> <span class="keyword">auto</span> ridx = row_indices.at(rit);</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        assert(rows &lt; 0 || ridx &lt; rows);</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        to_mat.row(ridx) = from_mat.row(rit);</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      }</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    }</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    </div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">/* computeKalmanGain() method //{ */</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">K_t</a> computeKalmanGain(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> H_t&amp; <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="keyword">const</span> R_t W = <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a> * sc.P * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() + R;</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keyword">const</span> R_t W_inv = Base_class::invert_W(W);</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">K_t</a> K = sc.P * <a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>.transpose() * W_inv;</div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="comment">// calculate the kalman gain for the norm-constrained states</span></div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      {</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">Kq_t</a> K_orig = select_rows(K, norm_indices);</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">xq_t</a> xq = select_indices(sc.x, norm_indices);</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">Hq_t</a> Hq = select_cols(<a class="code" href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">H</a>, norm_indices);</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="keyword">const</span> z_t inn = z - (Hq * xq); <span class="comment">// innovation</span></div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">xq_t</a> x = xq + K_orig * inn;</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> inn_scale = inn.transpose() * W_inv * inn;</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        </div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> x_norm = x.norm();</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">Kq_t</a> Kq = K_orig + (Base_class::l/x_norm - 1.0) * x * (inn.transpose() * W_inv) / inn_scale;</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        set_rows(Kq, K, norm_indices);</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      }</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    </div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">return</span> K;</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    }</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    </div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  };</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="comment">/* class NCUKF //{ */</span></div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCUKF.html">  284</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1NCUKF.html">NCUKF</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1UKF.html">UKF</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  {</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="comment">/* LKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> n = n_states;</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> m = n_inputs;</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> p = n_measurements;</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1UKF.html">UKF&lt;n, m, p&gt;</a>;</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">Base_class::x_t</a>;                <span class="comment">// state vector n*1</span></div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">Base_class::u_t</a>;                <span class="comment">// input vector m*1</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">Base_class::z_t</a>;                <span class="comment">// measurement vector p*1</span></div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">Base_class::P_t</a>;                <span class="comment">// state covariance n*n</span></div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">Base_class::R_t</a>;                <span class="comment">// measurement covariance p*p</span></div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">Base_class::Q_t</a>;                <span class="comment">// measurement covariance p*p</span></div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keyword">using</span> statecov_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">Base_class::statecov_t</a>;  <span class="comment">// helper struct for state and covariance</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keyword">using</span> transition_model_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">Base_class::transition_model_t</a>;</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keyword">using</span> observation_model_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">Base_class::observation_model_t</a>;</div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keyword">using</span> X_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">Base_class::X_t</a>;  <span class="comment">// state sigma points matrix n*w</span></div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keyword">using</span> Z_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">Base_class::Z_t</a>;  <span class="comment">// measurement sigma points matrix p*w</span></div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="keyword">using</span> Pzz_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Base_class::Pzz_t</a>;  <span class="comment">// Pzz helper matrix p*n</span></div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keyword">using</span> K_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">Base_class::K_t</a>;  <span class="comment">// kalman gain n*p</span></div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <a class="code" href="classmrs__lib_1_1NCUKF.html">NCUKF</a>(){};</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <a class="code" href="classmrs__lib_1_1NCUKF.html">NCUKF</a>(<span class="keyword">const</span> transition_model_t&amp; transition_model, <span class="keyword">const</span> observation_model_t&amp; observation_model, <span class="keyword">const</span> <span class="keywordtype">double</span> l, <span class="keyword">const</span> <span class="keywordtype">double</span> alpha = 1e-3, <span class="keyword">const</span> <span class="keywordtype">double</span> kappa = 1, <span class="keyword">const</span> <span class="keywordtype">double</span> beta = 2)</div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;     : <a class="code" href="classmrs__lib_1_1UKF.html">Base_class</a>(transition_model, observation_model, alpha, kappa, beta), l(l) {};</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="comment">/* correct() method //{ */</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">  318</a></span>&#160;    <span class="keyword">virtual</span> statecov_t <a class="code" href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">correct</a>(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&amp; R)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x = sc.x;</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; P = sc.P;</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keyword">const</span> X_t S = Base_class::computeSigmas(x, P);</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    </div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="comment">// propagate sigmas through the observation model</span></div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      Z_t Z_exp;</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">Base_class::w</a>; i++)</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      {</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        Z_exp.col(i) = Base_class::m_observation_model(S.col(i));</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      }</div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    </div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="comment">// compute expected measurement</span></div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> z_exp = z_t::Zero();</div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">Base_class::w</a>; i++)</div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      {</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        z_exp += Base_class::m_Wm(i) * Z_exp.col(i);</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      }</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    </div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="comment">// compute the covariance of measurement</span></div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      Pzz_t Pzz = Pzz_t::Zero();</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">Base_class::w</a>; i++)</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      {</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        Pzz += Base_class::m_Wc(i) * (Z_exp.col(i) - z_exp) * (Z_exp.col(i) - z_exp).transpose();</div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      }</div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      Pzz += R;</div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    </div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="comment">// compute cross covariance</span></div>
+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      K_t Pxz = K_t::Zero();</div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">Base_class::w</a>; i++)</div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      {</div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        Pxz += Base_class::m_Wc(i) * (S.col(i) - x) * (Z_exp.col(i) - z_exp).transpose();</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      }</div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    </div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="comment">// compute Kalman gain</span></div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> inn = (z - z_exp); <span class="comment">// innovation</span></div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keyword">const</span> K_t K = computeKalmanGain(sc.x, inn, Pxz, Pzz);</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    </div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="comment">// check whether the inverse produced valid numbers</span></div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      <span class="keywordflow">if</span> (!K.array().isFinite().all())</div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      {</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        ROS_ERROR(<span class="stringliteral">&quot;UKF: inverting of Pzz in correction update produced non-finite numbers!!! Fix your covariances (the measurement&#39;s is probably too low...)&quot;</span>);</div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        <span class="keywordflow">throw</span> <span class="keyword">typename</span> <a class="code" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">Base_class::inverse_exception</a>();</div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      }</div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    </div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="comment">// correct</span></div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      statecov_t ret;</div>
+<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      ret.x = x + K * inn;</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      ret.P = P - K * Pxz.transpose() - Pxz * K.transpose() + K * Pzz * K.transpose();</div>
+<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    }</div>
+<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordtype">double</span> l;</div>
+<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
+<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    <span class="comment">/* computeKalmanGain() method //{ */</span></div>
+<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="keyword">virtual</span> K_t computeKalmanGain(<span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> z_t&amp; inn, <span class="keyword">const</span> K_t&amp; Pxz, <span class="keyword">const</span> Pzz_t&amp; Pzz)<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <span class="keyword">const</span> Pzz_t Pzz_inv = Base_class::computeInverse(Pzz);</div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="keyword">const</span> K_t K_orig = Pxz * Pzz_inv;</div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="keyword">const</span> x_t x_pred = x + K_orig * inn;</div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> inn_scale = inn.transpose() * Pzz_inv * inn;</div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      </div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> x_norm = x_pred.norm();</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keyword">const</span> K_t K = K_orig + (l/x_norm - 1.0) * x_pred * (inn.transpose() * Pzz_inv) / inn_scale;</div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    </div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keywordflow">return</span> K;</div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    }</div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  };</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
+<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="preprocessor">#endif // NCKFSYSTEMMODELS_H</span></div>
+<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a1435f2ed4e333151990355813cee95ba"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">mrs_lib::UKF::X_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, n, w &gt; X_t</div><div class="ttdoc">State sigma points matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_abd8f845f1b3f138949bd95c7dc12e011"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">mrs_lib::UKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">process covariance n*n typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:69</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5df2fd299b9da75a872e8d9194da1ca9"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_af283625e8caefbccb8ca64072dab91a8"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#af283625e8caefbccb8ca64072dab91a8">mrs_lib::NCLKF::B_t</a></div><div class="ttdeci">typename Base_class::B_t B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a78733a13f277480c5c8c42228d440df7"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF::H_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, n &gt; H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:57</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d5cee075e30da36ffb946cffcfca688"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a4b3f2c1a84f0e0000d3d191c9f337306"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a4b3f2c1a84f0e0000d3d191c9f337306">mrs_lib::NCLKF::m</a></div><div class="ttdeci">static const int m</div><div class="ttdoc">Length of the input vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:33</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a8992c34838e430a64b070929e92c263a"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a8992c34838e430a64b070929e92c263a">mrs_lib::NCLKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> nckf.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a552fedb99ce43148c212c809dcd8191f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a552fedb99ce43148c212c809dcd8191f">mrs_lib::LKF::H</a></div><div class="ttdeci">H_t H</div><div class="ttdoc">The state to measurement mapping matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:150</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a748e915398e1ff3c09675bfcb1af7985"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a748e915398e1ff3c09675bfcb1af7985">mrs_lib::NCLKF_partial::m</a></div><div class="ttdeci">static const int m</div><div class="ttdoc">Length of the input vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:117</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a7a68877ffa7bd8bb10f16d1f104e0a73"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">mrs_lib::UKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">measurement vector p*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:63</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_adc5fb114b6abc3e2a72fbe4ed3ba0753"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#adc5fb114b6abc3e2a72fbe4ed3ba0753">mrs_lib::NCLKF::p</a></div><div class="ttdeci">static const int p</div><div class="ttdoc">Length of the measurement vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:34</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a1c6b3f2a9bd2d7cafe652d1bb24872e7"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a1c6b3f2a9bd2d7cafe652d1bb24872e7">mrs_lib::NCLKF_partial::NCLKF_partial</a></div><div class="ttdeci">NCLKF_partial(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H, const double l, const indices_t &amp;norm_constrained_indices)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> nckf.h:159</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a54b2b4a3932510daad92da5a2b1274c1"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> lkf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCUKF_html_ab12dfb8b6ad4c831c761327a3be2d814"><div class="ttname"><a href="classmrs__lib_1_1NCUKF.html#ab12dfb8b6ad4c831c761327a3be2d814">mrs_lib::NCUKF::correct</a></div><div class="ttdeci">virtual statecov_t correct(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</div><div class="ttdoc">Implements the state correction step (measurement update).</div><div class="ttdef"><b>Definition:</b> nckf.h:318</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d2cb5ed042b660f1a44bdb9f4d2612f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a5f970519deaccdbb021df412645f26d5"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a5f970519deaccdbb021df412645f26d5">mrs_lib::NCLKF::NCLKF</a></div><div class="ttdeci">NCLKF()</div><div class="ttdoc">Convenience default constructor.</div><div class="ttdef"><b>Definition:</b> nckf.h:58</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a1e4c8aa79cfcea707876d85950132450"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">mrs_lib::KalmanFilter::R_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ace5416fd8ac52fba822337bceaf751a7"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">mrs_lib::UKF::K_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, n, p &gt; K_t</div><div class="ttdoc">Kalman gain matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a80db36613d09068f8daa0dc7e735dc64"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a80db36613d09068f8daa0dc7e735dc64">mrs_lib::NCLKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> nckf.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_aab7df7efe1e8e70d0e79ad374c6674a0"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#aab7df7efe1e8e70d0e79ad374c6674a0">mrs_lib::NCLKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:42</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a8fa90de14ea4fa4125882bd49d101888"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a8fa90de14ea4fa4125882bd49d101888">mrs_lib::NCLKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> nckf.h:37</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a986f17f015282a33b140af4adabce091"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">mrs_lib::UKF::transition_model_t</a></div><div class="ttdeci">typename std::function&lt; x_t(const x_t &amp;, const u_t &amp;, double)&gt; transition_model_t</div><div class="ttdoc">function of the state transition model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:75</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_afa31bda8d042554992676389d464cfd9"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#afa31bda8d042554992676389d464cfd9">mrs_lib::NCLKF_partial::n</a></div><div class="ttdeci">static const int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:116</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a6f311605a0470b290c6917d555bb4c9a"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a6f311605a0470b290c6917d555bb4c9a">mrs_lib::NCLKF_partial::Hq_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, nq &gt; Hq_t</div><div class="ttdoc">Norm-constrained measurement mapping type .</div><div class="ttdef"><b>Definition:</b> nckf.h:137</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a8f5e50ea6668129218bd4113f4ffdf6f"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">mrs_lib::KalmanFilter::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html">mrs_lib::NCLKF_partial</a></div><div class="ttdoc">This class implements the partially norm-constrained linear Kalman filter .</div><div class="ttdef"><b>Definition:</b> nckf.h:112</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a6589d6a1f5eba355f1bec91e99826b71"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">mrs_lib::UKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">input vector m*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:61</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a1448842265f0b39d5da536488d146db3"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a1448842265f0b39d5da536488d146db3">mrs_lib::NCLKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a604c0bfee69ee5a34dc4412af3cc6e53"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">mrs_lib::UKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">typedef of a helper struct for state and covariance</div><div class="ttdef"><b>Definition:</b> ukf.h:73</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a139afd8f356f87aa0faadea3e8878649"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a139afd8f356f87aa0faadea3e8878649">mrs_lib::NCLKF_partial::nq</a></div><div class="ttdeci">static const int nq</div><div class="ttdoc">Number of states to which the norm constraint applies.</div><div class="ttdef"><b>Definition:</b> nckf.h:119</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_aa7b38a32abe6a319930d6392178d5e3e"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#aa7b38a32abe6a319930d6392178d5e3e">mrs_lib::NCLKF::A_t</a></div><div class="ttdeci">typename Base_class::A_t A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:45</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_ad92ac4f280e849986554bc593e5ab96e"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">mrs_lib::KalmanFilter::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, m, 1 &gt; u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:35</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a2bbb3c02f086402351601ca3c3a4c52f"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">mrs_lib::UKF::w</a></div><div class="ttdeci">static constexpr int w</div><div class="ttdoc">Number of sigma points/weights.</div><div class="ttdef"><b>Definition:</b> ukf.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5ca7805e401bd7b718b510269a6ce7bf"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:56</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_abfad09fe2386fb87eaea7b4dd8b24409"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ac515ea8c688d7ee67250c384417f9ab9"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">mrs_lib::UKF::observation_model_t</a></div><div class="ttdeci">typename std::function&lt; z_t(const x_t &amp;)&gt; observation_model_t</div><div class="ttdoc">function of the observation model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:77</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a5b8f47081daf208496a19a4364e6509c"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">mrs_lib::KalmanFilter::x_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, 1 &gt; x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:34</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a50092f2c99a521668dfd3211c999441c"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a50092f2c99a521668dfd3211c999441c">mrs_lib::NCLKF_partial::xq_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, nq, 1 &gt; xq_t</div><div class="ttdoc">Norm-constrained states vector type .</div><div class="ttdef"><b>Definition:</b> nckf.h:136</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_aabe13461dda8a89463ce87888fd6e428"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#aabe13461dda8a89463ce87888fd6e428">mrs_lib::NCLKF_partial::NCLKF_partial</a></div><div class="ttdeci">NCLKF_partial()</div><div class="ttdoc">Convenience default constructor.</div><div class="ttdef"><b>Definition:</b> nckf.h:148</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a0af0d9a246df0798b1cb1308cec82fd2"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">mrs_lib::UKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">measurement covariance p*p typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:67</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a4b6b964e9491ca80fdfc1afacc9b23fc"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a4b6b964e9491ca80fdfc1afacc9b23fc">mrs_lib::NCLKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:41</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_aa5c83985c5c7685ebe2af0e445fbc0ad"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF::A_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:55</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a2d88249f1992d772631026387a45445a"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a2d88249f1992d772631026387a45445a">mrs_lib::LKF::B</a></div><div class="ttdeci">B_t B</div><div class="ttdoc">The input to state mapping matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:149</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_af11dc75b608a43930e8289c51e8ab7c6"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">mrs_lib::UKF::Pzz_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, p, p &gt; Pzz_t</div><div class="ttdoc">Pzz helper matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a93afd8063033124c0698426cd03d4507"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a93afd8063033124c0698426cd03d4507">mrs_lib::NCLKF_partial::indices_t</a></div><div class="ttdeci">std::array&lt; int, nq &gt; indices_t</div><div class="ttdoc">Indices of the norm-constrained states type.</div><div class="ttdef"><b>Definition:</b> nckf.h:135</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ac1128f5d7fa36305a52859a752a97fda"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">mrs_lib::UKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">state covariance n*n typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:65</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_aa4dcb47ceca9f506407e14858567ea09"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#aa4dcb47ceca9f506407e14858567ea09">mrs_lib::NCLKF::NCLKF</a></div><div class="ttdeci">NCLKF(const A_t &amp;A, const B_t &amp;B, const H_t &amp;H, const double l)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> nckf.h:68</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a8e0f671100fb36a431a1d2f6ed1df7b9"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a8e0f671100fb36a431a1d2f6ed1df7b9">mrs_lib::NCLKF::n</a></div><div class="ttdeci">static const int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:32</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html"><div class="ttname"><a href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a></div><div class="ttdoc">Implementation of the Linear Kalman filter .</div><div class="ttdef"><b>Definition:</b> lkf.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a33b80f4e1b9b7eb7243b71a4ae6d99c6"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a33b80f4e1b9b7eb7243b71a4ae6d99c6">mrs_lib::LKF::K_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, p &gt; K_t</div><div class="ttdoc">Kalman gain matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:58</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_ae2d30fe948b17723e0a89450044f8f93"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#ae2d30fe948b17723e0a89450044f8f93">mrs_lib::NCLKF::K_t</a></div><div class="ttdeci">typename Base_class::K_t K_t</div><div class="ttdoc">Kalman gain matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_abac1b51597611226f2c0642230207e71"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#abac1b51597611226f2c0642230207e71">mrs_lib::NCLKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> nckf.h:43</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a2048d62a3e243b91802f6e85fcdcf2b3"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a2048d62a3e243b91802f6e85fcdcf2b3">mrs_lib::NCLKF_partial::p</a></div><div class="ttdeci">static const int p</div><div class="ttdoc">Length of the measurement vector of the system.</div><div class="ttdef"><b>Definition:</b> nckf.h:118</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html_a92eb1e6f9fe04297bb54fdfbdc74d460"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html#a92eb1e6f9fe04297bb54fdfbdc74d460">mrs_lib::NCLKF::H_t</a></div><div class="ttdeci">typename Base_class::H_t H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a5ab9d25f7b2470c7abeacda7f8b80630"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">mrs_lib::UKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">state vector n*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:59</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_ab2c5ddabe3fc919334595ec1e535c848"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">mrs_lib::KalmanFilter::Q_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_af4318056f5e0c024651bb882b60ec640"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">mrs_lib::LKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a0825f38a6a4ddc522239bb7bf6279737"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">mrs_lib::KalmanFilter::z_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, 1 &gt; z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCUKF_html"><div class="ttname"><a href="classmrs__lib_1_1NCUKF.html">mrs_lib::NCUKF</a></div><div class="ttdef"><b>Definition:</b> nckf.h:284</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a47b90d150c6147ab30ae1866b66ea49c"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a47b90d150c6147ab30ae1866b66ea49c">mrs_lib::NCLKF_partial::K_t</a></div><div class="ttdeci">typename Base_class::K_t K_t</div><div class="ttdoc">Kalman gain matrix type .</div><div class="ttdef"><b>Definition:</b> nckf.h:133</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a06a3fae37e8a0613d8169b638c4c0001"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">mrs_lib::UKF::Z_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, p, w &gt; Z_t</div><div class="ttdoc">Measurement sigma points matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a0926533d35a53410b4302fda99a45321"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a0926533d35a53410b4302fda99a45321">mrs_lib::LKF::A</a></div><div class="ttdeci">A_t A</div><div class="ttdoc">The system transition matrix .</div><div class="ttdef"><b>Definition:</b> lkf.h:144</div></div>
+<div class="ttc" id="aukf_8h_html"><div class="ttname"><a href="ukf_8h.html">ukf.h</a></div><div class="ttdoc">Defines UKF - a class implementing the Unscented Kalman Filter .</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a98e130a3d14cd93b01b0b942de8af10c"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">mrs_lib::LKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF_html"><div class="ttname"><a href="classmrs__lib_1_1NCLKF.html">mrs_lib::NCLKF</a></div><div class="ttdoc">This class implements the norm-constrained linear Kalman filter .</div><div class="ttdef"><b>Definition:</b> nckf.h:28</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1NCLKF__partial_html_a459ce71ac559eb881415485df4d622fa"><div class="ttname"><a href="classmrs__lib_1_1NCLKF__partial.html#a459ce71ac559eb881415485df4d622fa">mrs_lib::NCLKF_partial::Kq_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, nq, p &gt; Kq_t</div><div class="ttdoc">Norm-constrained kalman gain type .</div><div class="ttdef"><b>Definition:</b> nckf.h:138</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html"><div class="ttname"><a href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a></div><div class="ttdoc">Implementation of the Unscented Kalman filter .</div><div class="ttdef"><b>Definition:</b> ukf.h:39</div></div>
+<div class="ttc" id="astructmrs__lib_1_1UKF_1_1inverse__exception_html"><div class="ttname"><a href="structmrs__lib_1_1UKF_1_1inverse__exception.html">mrs_lib::UKF::inverse_exception</a></div><div class="ttdoc">is thrown when taking the inverse of a matrix fails during kalman gain calculation</div><div class="ttdef"><b>Definition:</b> ukf.h:89</div></div>
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+<p>Tests for the UKF implementation.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;mrs_lib/nckf.h&gt;</code><br />
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#nested-classes">Classes</a> &#124;
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+  <div class="headertitle">
+<div class="title">notch_filter.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="iir__filter_8h_source.html">mrs_lib/iir_filter.h</a>&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for notch_filter.h:</div>
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+</div>
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+<p><a href="notch__filter_8h_source.html">Go to the source code of this file.</a></p>
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+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1NotchFilter.html">mrs_lib::NotchFilter</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Daniel Hert - <a href="#" onclick="location.href='mai'+'lto:'+'her'+'td'+'ani'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">hertd<span style="display: none;">.nosp@m.</span>ani@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
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+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="notch__filter_8h.html">notch_filter.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<a href="notch__filter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#ifndef NOTCH_FILTER_H</span></div>
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+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="iir__filter_8h.html">mrs_lib/iir_filter.h</a>&gt;</span></div>
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+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1NotchFilter.html">   15</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1NotchFilter.html">NotchFilter</a> {</div>
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+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classmrs__lib_1_1NotchFilter.html">NotchFilter</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; sample_rate, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; frequency_in, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; bandwidth_in);</div>
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+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  std::unique_ptr&lt;mrs_lib::IirFilter&gt; filter;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;};</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
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+<div class="ttc" id="aclassmrs__lib_1_1NotchFilter_html"><div class="ttname"><a href="classmrs__lib_1_1NotchFilter.html">mrs_lib::NotchFilter</a></div><div class="ttdef"><b>Definition:</b> notch_filter.h:15</div></div>
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+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> param_loader_example</code>.</p>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="param__loader_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef PARAM_LOADER_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define PARAM_LOADER_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;unordered_set&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;std_msgs/ColorRGBA.h&gt;</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="param__provider_8h.html">mrs_lib/param_provider.h</a>&gt;</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">/*** ParamLoader CLASS //{ **/</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html">   43</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ParamLoader.html">ParamLoader</a></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">enum</span> unique_t</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    UNIQUE = <span class="keyword">true</span>,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    REUSABLE = <span class="keyword">false</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  };</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">enum</span> optional_t</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    OPTIONAL = <span class="keyword">true</span>,</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    COMPULSORY = <span class="keyword">false</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  };</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">enum</span> swap_t</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    SWAP = <span class="keyword">true</span>,</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    NO_SWAP = <span class="keyword">false</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  };</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">using</span> MatrixX = Eigen::Matrix&lt;T, Eigen::Dynamic, Eigen::Dynamic&gt;;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">bool</span> m_load_successful, m_print_values;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  std::string m_node_name;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  std::string m_prefix;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">const</span> ros::NodeHandle&amp; m_nh;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a> m_pp;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::unordered_set&lt;std::string&gt; m_loaded_params;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">/* printing helper functions //{ */</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">/* printError and print_warning functions //{*/</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">void</span> printError(<span class="keyword">const</span> std::string&amp; str)</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  {</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      ROS_ERROR_STREAM(str);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      ROS_ERROR_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: &quot;</span> &lt;&lt; str);</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">void</span> print_warning(<span class="keyword">const</span> std::string&amp; str)</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  {</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      ROS_WARN_STREAM(str);</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      ROS_WARN_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: &quot;</span> &lt;&lt; str);</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  }</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">/* printValue function and overloads //{ */</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">void</span> printValue(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> T&amp; value)</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span> &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span> &lt;&lt; value &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter &#39;&quot;</span> &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;&#39;:\t&quot;</span> &lt;&lt; value);</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">void</span> printValue(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> std::vector&lt;T&gt;&amp; value)</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    std::stringstream strstr;</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      strstr &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span>;</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    strstr &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span>;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">size_t</span> it = 0;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; elem : value)</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    {</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      strstr &lt;&lt; elem;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordflow">if</span> (it &lt; value.size() - 1)</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        strstr &lt;&lt; <span class="stringliteral">&quot;, &quot;</span>;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      it++;</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    }</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      std::cout &lt;&lt; strstr.str() &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter &#39;&quot;</span> &lt;&lt; strstr.str());</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  }</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T1, <span class="keyword">typename</span> T2&gt;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">void</span> printValue(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> std::map&lt;T1, T2&gt;&amp; value)</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    std::stringstream strstr;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      strstr &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span>;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    strstr &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordtype">size_t</span> it = 0;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; pair : value)</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    {</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      strstr &lt;&lt; pair.first &lt;&lt; <span class="stringliteral">&quot; = &quot;</span> &lt;&lt; pair.second;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordflow">if</span> (it &lt; value.size() - 1)</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        strstr &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      it++;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      std::cout &lt;&lt; strstr.str() &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter &#39;&quot;</span> &lt;&lt; strstr.str());</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  }</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordtype">void</span> printValue(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> MatrixX&lt;T&gt;&amp; value)</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  {</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    std::stringstream strstr;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">/* const Eigen::IOFormat fmt(4, 0, &quot;, &quot;, &quot;\n&quot;, &quot;\t\t[&quot;, &quot;]&quot;); */</span></div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">/* strstr &lt;&lt; value.format(fmt); */</span></div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">const</span> Eigen::IOFormat fmt;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    strstr &lt;&lt; value.format(fmt);</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span> &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span> &lt;&lt; std::endl &lt;&lt; strstr.str() &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter &#39;&quot;</span> &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;&#39;:&quot;</span> &lt;&lt; std::endl &lt;&lt; strstr.str());</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  }</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  std::string printValue_recursive(<span class="keyword">const</span> std::string&amp; name, XmlRpc::XmlRpcValue&amp; value, <span class="keywordtype">unsigned</span> depth = 0)</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  {</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    std::stringstream strstr;</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> it = 0; it &lt; depth; it++)</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      strstr &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span>;</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    strstr &lt;&lt; name &lt;&lt; <span class="stringliteral">&quot;:&quot;</span>;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">switch</span> (value.getType())</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    {</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordflow">case</span> XmlRpc::XmlRpcValue::TypeArray:</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        {</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; value.size(); it++)</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          {</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            strstr &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            <span class="keyword">const</span> std::string name = <span class="stringliteral">&quot;[&quot;</span> + std::to_string(it) + <span class="stringliteral">&quot;]&quot;</span>;</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            strstr &lt;&lt; printValue_recursive(name, value[it], depth+1);</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          }</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        }</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordflow">case</span> XmlRpc::XmlRpcValue::TypeStruct:</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        {</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="keywordtype">int</span> it = 0;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; pair : value)</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          {</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            strstr &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            strstr &lt;&lt; printValue_recursive(pair.first, pair.second, depth+1);</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            it++;</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          }</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;          <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        }</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordflow">default</span>:</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        {</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          strstr &lt;&lt; <span class="stringliteral">&quot;\t&quot;</span> &lt;&lt; value;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    }</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">return</span> strstr.str();</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordtype">void</span> printValue(<span class="keyword">const</span> std::string&amp; name, XmlRpc::XmlRpcValue&amp; value)</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  {</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keyword">const</span> std::string txt = printValue_recursive(name, value);</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      std::cout &lt;&lt; txt &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter &#39;&quot;</span> &lt;&lt; txt);</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  }</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  std::string resolved(<span class="keyword">const</span> std::string&amp; param_name)</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  {</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">return</span> m_nh.resolveName(param_name);</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  }</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="comment">/* check_duplicit_loading checks whether the parameter was already loaded - returns true if yes //{ */</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordtype">bool</span> check_duplicit_loading(<span class="keyword">const</span> std::string&amp; name)</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  {</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">if</span> (m_loaded_params.count(name))</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      printError(std::string(<span class="stringliteral">&quot;Tried to load parameter &quot;</span>) + name + std::string(<span class="stringliteral">&quot; twice&quot;</span>));</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    {</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    }</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="comment">/* loadMatrixStatic_internal helper function for loading static Eigen matrices //{ */</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, <span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  Eigen::Matrix&lt;T, rows, cols&gt; loadMatrixStatic_internal(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> Eigen::Matrix&lt;T, rows, cols&gt;&amp; default_value, optional_t optional, unique_t unique)</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  {</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    MatrixX&lt;T&gt; dynamic = loadMatrixX(name, MatrixX&lt;T&gt;(default_value), rows, cols, optional, unique, NO_SWAP);</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">if</span> (dynamic.rows() == rows || dynamic.cols() == cols)</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keywordflow">return</span> dynamic;</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordflow">return</span> default_value;</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  }</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="comment">/* helper functions for loading dynamic Eigen matrices //{ */</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">// loadMatrixX helper function for loading dynamic Eigen matrices //{</span></div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  MatrixX&lt;T&gt; loadMatrixX(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> MatrixX&lt;T&gt;&amp; default_value, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols = Eigen::Dynamic, optional_t optional = OPTIONAL, unique_t unique = UNIQUE, swap_t swap = NO_SWAP, <span class="keywordtype">bool</span> printValues = <span class="keyword">true</span>)</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  {</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keyword">const</span> std::string name_prefixed = m_prefix + name;</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    MatrixX&lt;T&gt; loaded = default_value;</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// first, check if the user already tried to load this parameter</span></div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordflow">if</span> (unique &amp;&amp; check_duplicit_loading(name_prefixed))</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="comment">// this function only accepts dynamic columns (you can always transpose the matrix afterward)</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">if</span> (rows &lt; 0)</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    {</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="comment">// if the parameter was compulsory, alert the user and set the flag</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      printError(std::string(<span class="stringliteral">&quot;Invalid expected matrix dimensions for parameter &quot;</span>) + resolved(name_prefixed));</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    }</div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordtype">bool</span> expect_zero_matrix = rows == 0;</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keywordflow">if</span> (expect_zero_matrix)</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    {</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keywordflow">if</span> (cols &gt; 0)</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      {</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        printError(std::string(<span class="stringliteral">&quot;Invalid expected matrix dimensions for parameter &quot;</span>) + resolved(name_prefixed) + <span class="stringliteral">&quot;. One dimension indicates zero matrix, but other expects non-zero.&quot;</span>);</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      }</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    }</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordtype">bool</span> cur_load_successful = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordtype">bool</span> check_size_exact = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">if</span> (cols &lt;= 0)  <span class="comment">// this means that the cols dimension is dynamic or a zero matrix is expected</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      check_size_exact = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    std::vector&lt;T&gt; tmp_vec;</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="comment">// try to load the parameter</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keywordtype">bool</span> success = m_pp.<a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(name_prefixed, tmp_vec);</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="comment">// check if the loaded vector has correct length</span></div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="keywordtype">bool</span> correct_size = (int)tmp_vec.size() == rows * cols;</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordflow">if</span> (!check_size_exact &amp;&amp; !expect_zero_matrix)</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      correct_size = (int)tmp_vec.size() % rows == 0;  <span class="comment">// if the cols dimension is dynamic, the size just has to be divisable by rows</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">if</span> (success &amp;&amp; correct_size)</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    {</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="comment">// if successfully loaded, everything is in order</span></div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="comment">// transform the vector to the matrix</span></div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      <span class="keywordflow">if</span> (cols &lt;= 0 &amp;&amp; rows &gt; 0)</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        cols = tmp_vec.size() / rows;</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      <span class="keywordflow">if</span> (swap)</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      {</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordtype">int</span> tmp = cols;</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        cols = rows;</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        rows = tmp;</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      }</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      loaded = Eigen::Map&lt;Eigen::Matrix&lt;T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor&gt;, Eigen::Unaligned&gt;(tmp_vec.data(), rows, cols);</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    {</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keywordflow">if</span> (success &amp;&amp; !correct_size)</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      {</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <span class="comment">// warn the user that this parameter was not successfully loaded because of wrong vector length (might be an oversight)</span></div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        std::string warning =</div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            std::string(<span class="stringliteral">&quot;Matrix parameter &quot;</span>) + name_prefixed</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            + std::string(<span class="stringliteral">&quot; could not be loaded because the vector has a wrong length &quot;</span> + std::to_string(tmp_vec.size()) + <span class="stringliteral">&quot; instead of expected &quot;</span>);</div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="comment">// process the message correctly based on whether the loaded matrix should be dynamic or static</span></div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="keywordflow">if</span> (cols &lt;= 0)  <span class="comment">// for dynamic matrices</span></div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;          warning = warning + std::string(<span class="stringliteral">&quot;number divisible by &quot;</span>) + std::to_string(rows);</div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">else</span>  <span class="comment">// for static matrices</span></div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          warning = warning + std::to_string(rows * cols);</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        print_warning(warning);</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      }</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="comment">// if it was not loaded, set the default value</span></div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      loaded = default_value;</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keywordflow">if</span> (!optional)</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      {</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="comment">// if the parameter was compulsory, alert the user and set the flag</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        printError(std::string(<span class="stringliteral">&quot;Could not load non-optional parameter &quot;</span>) + resolved(name_prefixed));</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        cur_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      }</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    }</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="comment">// check if load was a success</span></div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordflow">if</span> (cur_load_successful)</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    {</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keywordflow">if</span> (m_print_values &amp;&amp; printValues)</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        printValue(name_prefixed, loaded);</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      m_loaded_params.insert(name_prefixed);</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    {</div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    }</div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="comment">// finally, return the resulting value</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  }</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="comment">/* loadMatrixArray_internal helper function for loading an array of EigenXd matrices with known dimensions //{ */</span></div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  std::vector&lt;MatrixX&lt;T&gt;&gt; loadMatrixArray_internal(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> std::vector&lt;MatrixX&lt;T&gt;&gt;&amp; default_value, optional_t optional, unique_t unique)</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  {</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keyword">const</span> std::string name_prefixed = m_prefix + name;</div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordtype">int</span> rows;</div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    std::vector&lt;int&gt; cols;</div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordtype">bool</span> success = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    success = success &amp;&amp; m_pp.<a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(name_prefixed + <span class="stringliteral">&quot;/rows&quot;</span>, rows);</div>
+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    success = success &amp;&amp; m_pp.<a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(name_prefixed + <span class="stringliteral">&quot;/cols&quot;</span>, cols);</div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    std::vector&lt;MatrixX&lt;T&gt;&gt; loaded;</div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    loaded.reserve(cols.size());</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keywordtype">int</span> total_cols = 0;</div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="comment">/* check correctness of loaded parameters so far calculate the total dimension //{ */</span></div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keywordflow">if</span> (!success)</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    {</div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      printError(std::string(<span class="stringliteral">&quot;Failed to load &quot;</span>) + resolved(name_prefixed) + std::string(<span class="stringliteral">&quot;/rows or &quot;</span>) + resolved(name_prefixed) + std::string(<span class="stringliteral">&quot;/cols&quot;</span>));</div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      <span class="keywordflow">return</span> default_value;</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    }</div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keywordflow">if</span> (rows &lt; 0)</div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    {</div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      printError(std::string(<span class="stringliteral">&quot;Invalid expected matrix dimensions for parameter &quot;</span>) + resolved(name_prefixed) + std::string(<span class="stringliteral">&quot; (rows and cols must be &gt;= 0)&quot;</span>));</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keywordflow">return</span> default_value;</div>
+<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    }</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; col : cols)</div>
+<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    {</div>
+<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keywordflow">if</span> (col &lt; 0)</div>
+<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      {</div>
+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        printError(std::string(<span class="stringliteral">&quot;Invalid expected matrix dimensions for parameter &quot;</span>) + resolved(name_prefixed) + std::string(<span class="stringliteral">&quot; (rows and cols must be &gt;= 0)&quot;</span>));</div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        <span class="keywordflow">return</span> default_value;</div>
+<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      }</div>
+<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      total_cols += col;</div>
+<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    }</div>
+<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    </div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="keyword">const</span> MatrixX&lt;T&gt; loaded_matrix = loadMatrixX(name + <span class="stringliteral">&quot;/data&quot;</span>, MatrixX&lt;T&gt;(), rows, total_cols, optional, unique, NO_SWAP, <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;loaded_matrix: &quot; &lt;&lt; loaded_matrix &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;loaded_matrix: &quot; &lt;&lt; loaded_matrix.rows() &lt;&lt; &quot;x&quot; &lt;&lt; loaded_matrix.cols() &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;expected dims: &quot; &lt;&lt; rows &lt;&lt; &quot;x&quot; &lt;&lt; total_cols &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="keywordflow">if</span> (loaded_matrix.rows() != rows || loaded_matrix.cols() != total_cols)</div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    {</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keywordflow">return</span> default_value;</div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    }</div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <span class="keywordtype">int</span> cols_loaded = 0;</div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> it = 0; it &lt; cols.size(); it++)</div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    {</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> cur_cols = cols.at(it);</div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keyword">const</span> MatrixX&lt;T&gt; cur_mat = loaded_matrix.block(0, cols_loaded, rows, cur_cols);</div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      <span class="comment">/* std::cout &lt;&lt; &quot;cur_mat: &quot; &lt;&lt; cur_mat &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      loaded.push_back(cur_mat);</div>
+<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      cols_loaded += cur_cols;</div>
+<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      printValue(name_prefixed + <span class="stringliteral">&quot;/matrix#&quot;</span> + std::to_string(it), cur_mat);</div>
+<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    }</div>
+<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  }</div>
+<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  <span class="comment">/* loadMatrixStatic_internal helper function for loading EigenXd matrices with known dimensions //{ */</span></div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  MatrixX&lt;T&gt; loadMatrixStatic_internal(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> MatrixX&lt;T&gt;&amp; default_value, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, optional_t optional, unique_t unique)</div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  {</div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    MatrixX&lt;T&gt; loaded = default_value;</div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="comment">// first, check that at least one dimension is set</span></div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keywordflow">if</span> (rows &lt;= 0 || cols &lt;= 0)</div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    {</div>
+<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      printError(std::string(<span class="stringliteral">&quot;Invalid expected matrix dimensions for parameter &quot;</span>) + resolved(name) + std::string(<span class="stringliteral">&quot; (use loadMatrixDynamic?)&quot;</span>));</div>
+<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    }</div>
+<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
+<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    <span class="keywordflow">return</span> loadMatrixX(name, default_value, rows, cols, optional, unique, NO_SWAP);</div>
+<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  }</div>
+<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
+<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="comment">/* loadMatrixDynamic_internal helper function for loading Eigen matrices with one dynamic (unspecified) dimension //{ */</span></div>
+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  MatrixX&lt;T&gt; loadMatrixDynamic_internal(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> MatrixX&lt;T&gt;&amp; default_value, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, optional_t optional, unique_t unique)</div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  {</div>
+<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    MatrixX&lt;T&gt; loaded = default_value;</div>
+<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160; </div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    <span class="comment">// next, check that at least one dimension is set</span></div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keywordflow">if</span> (rows &lt;= 0 &amp;&amp; cols &lt;= 0)</div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    {</div>
+<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      printError(std::string(<span class="stringliteral">&quot;Invalid expected matrix dimensions for parameter &quot;</span>) + resolved(name) + std::string(<span class="stringliteral">&quot; (at least one dimension must be specified)&quot;</span>));</div>
+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keywordflow">return</span> loaded;</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    }</div>
+<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    swap_t swap = NO_SWAP;</div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keywordflow">if</span> (rows &lt;= 0)</div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    {</div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      <span class="keywordtype">int</span> tmp = rows;</div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      rows = cols;</div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      cols = tmp;</div>
+<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      swap = SWAP;</div>
+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    }</div>
+<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="keywordflow">return</span> loadMatrixX(name, default_value, rows, cols, optional, unique, swap);</div>
+<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  }</div>
+<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="comment">/* load helper function for generic types //{ */</span></div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="comment">// This function tries to load a parameter with name &#39;name&#39; and a default value.</span></div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="comment">// You can use the flag &#39;optional&#39; to not throw a ROS_ERROR when the parameter</span></div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  <span class="comment">// cannot be loaded and the flag &#39;printValues&#39; to set whether the loaded</span></div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="comment">// value and name of the parameter should be printed to cout.</span></div>
+<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="comment">// If &#39;optional&#39; is set to false and the parameter could not be loaded,</span></div>
+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <span class="comment">// the flag &#39;load_successful&#39; is set to false and a ROS_ERROR message</span></div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="comment">// is printer.</span></div>
+<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <span class="comment">// If &#39;unique&#39; flag is set to false then the parameter is not checked</span></div>
+<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="comment">// for being loaded twice.</span></div>
+<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  <span class="comment">// Returns a tuple, containing either the loaded or the default value and a bool,</span></div>
+<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  <span class="comment">// indicating if the value was loaded (true) or the default value was used (false).</span></div>
+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  std::pair&lt;T, bool&gt; load(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> T&amp; default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)</div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  {</div>
+<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keyword">const</span> std::string name_prefixed = m_prefix + name;</div>
+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    T loaded = default_value;</div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordflow">if</span> (unique &amp;&amp; check_duplicit_loading(name_prefixed))</div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keywordflow">return</span> {loaded, <span class="keyword">false</span>};</div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="keywordtype">bool</span> cur_load_successful = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    <span class="comment">// try to load the parameter</span></div>
+<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">bool</span> success = m_pp.<a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(name_prefixed, loaded);</div>
+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    <span class="keywordflow">if</span> (!success)</div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    {</div>
+<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      <span class="comment">// if it was not loaded, set the default value</span></div>
+<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      loaded = default_value;</div>
+<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="keywordflow">if</span> (!optional)</div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      {</div>
+<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <span class="comment">// if the parameter was compulsory, alert the user and set the flag</span></div>
+<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        printError(std::string(<span class="stringliteral">&quot;Could not load non-optional parameter &quot;</span>) + resolved(name_prefixed));</div>
+<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        cur_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      }</div>
+<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    }</div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    <span class="keywordflow">if</span> (cur_load_successful)</div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    {</div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      <span class="comment">// everything is fine and just print the name_prefixed and value if required</span></div>
+<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      <span class="keywordflow">if</span> (m_print_values)</div>
+<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        printValue(name_prefixed, loaded);</div>
+<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <span class="comment">// mark the param name_prefixed as successfully loaded</span></div>
+<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      m_loaded_params.insert(name_prefixed);</div>
+<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    } <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    {</div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;      m_load_successful = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    }</div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="comment">// finally, return the resulting value</span></div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordflow">return</span> {loaded, success};</div>
+<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  }</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00507"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">  507</a></span>&#160;  <a class="code" href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">ParamLoader</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keywordtype">bool</span> printValues = <span class="keyword">true</span>, std::string_view node_name = std::string())</div>
+<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      : m_load_successful(true),</div>
+<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;        m_print_values(printValues),</div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        m_node_name(node_name),</div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        m_nh(nh),</div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        m_pp(nh, m_node_name)</div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  {</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;Initialized1 ParamLoader for node &quot; &lt;&lt; node_name &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  }</div>
+<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="comment">/* Constructor overloads //{ */</span></div>
+<div class="line"><a name="l00524"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">  524</a></span>&#160;  <a class="code" href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">ParamLoader</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, std::string_view node_name)</div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      : <a class="code" href="classmrs__lib_1_1ParamLoader.html">ParamLoader</a>(nh, true, node_name)</div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  {</div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;Initialized2 ParamLoader for node &quot; &lt;&lt; node_name &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  }</div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
+<div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c">  536</a></span>&#160;  <a class="code" href="classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c">ParamLoader</a>(<span class="keyword">const</span> std::string&amp; filepath, <span class="keyword">const</span> ros::NodeHandle&amp; nh)</div>
+<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    : <a class="code" href="classmrs__lib_1_1ParamLoader.html">ParamLoader</a>(nh, <span class="stringliteral">&quot;none&quot;</span>)</div>
+<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  {</div>
+<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    YAML::Node node = YAML::Load(filepath);</div>
+<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  }</div>
+<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <span class="comment">/* setPrefix function //{ */</span></div>
+<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  </div>
+<div class="line"><a name="l00550"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">  550</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">setPrefix</a>(<span class="keyword">const</span> std::string&amp; prefix)</div>
+<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  {</div>
+<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    m_prefix = prefix;</div>
+<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  }</div>
+<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  </div>
+<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
+<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  <span class="comment">/* getPrefix function //{ */</span></div>
+<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  </div>
+<div class="line"><a name="l00564"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">  564</a></span>&#160;  std::string <a class="code" href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">getPrefix</a>()</div>
+<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  {</div>
+<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    <span class="keywordflow">return</span> m_prefix;</div>
+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  }</div>
+<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  </div>
+<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
+<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <span class="comment">/* addYamlFile() function //{ */</span></div>
+<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  </div>
+<div class="line"><a name="l00579"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">  579</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">addYamlFile</a>(<span class="keyword">const</span> std::string&amp; filepath)</div>
+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  {</div>
+<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keywordflow">return</span> m_pp.<a class="code" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">addYamlFile</a>(filepath);</div>
+<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  }</div>
+<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160; </div>
+<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  <span class="comment">/* addYamlFileFromParam() function //{ */</span></div>
+<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  </div>
+<div class="line"><a name="l00593"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">  593</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">addYamlFileFromParam</a>(<span class="keyword">const</span> std::string&amp; param_name)</div>
+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  {</div>
+<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;    std::string filepath;</div>
+<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(param_name, filepath))</div>
+<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    <span class="keywordflow">return</span> m_pp.<a class="code" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">addYamlFile</a>(filepath);</div>
+<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  }</div>
+<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
+<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="comment">/* loadedSuccessfully function //{ */</span></div>
+<div class="line"><a name="l00608"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">  608</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">loadedSuccessfully</a>()</div>
+<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  {</div>
+<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    <span class="keywordflow">return</span> m_load_successful;</div>
+<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  }</div>
+<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160; </div>
+<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  <span class="comment">/* loadParam function for optional parameters //{ */</span></div>
+<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00628"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">  628</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(<span class="keyword">const</span> std::string&amp; name, T&amp; out_value, <span class="keyword">const</span> T&amp; default_value)</div>
+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  {</div>
+<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, default_value, OPTIONAL, UNIQUE);</div>
+<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    out_value = ret;</div>
+<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;    <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  }</div>
+<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00646"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">  646</a></span>&#160;  T <a class="code" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> T&amp; default_value)</div>
+<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  {</div>
+<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> loaded = load&lt;T&gt;(name, default_value, OPTIONAL, UNIQUE);</div>
+<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    <span class="keywordflow">return</span> loaded.first;</div>
+<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;  }</div>
+<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00664"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">  664</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">loadParamReusable</a>(<span class="keyword">const</span> std::string&amp; name, T&amp; out_value, <span class="keyword">const</span> T&amp; default_value)</div>
+<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  {</div>
+<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, default_value, OPTIONAL, REUSABLE);</div>
+<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    out_value = ret;</div>
+<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  }</div>
+<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00682"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">  682</a></span>&#160;  T <a class="code" href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">loadParamReusable2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> T&amp; default_value)</div>
+<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  {</div>
+<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, default_value, OPTIONAL, REUSABLE);</div>
+<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  }</div>
+<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
+<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <span class="comment">/* loadParam function for compulsory parameters //{ */</span></div>
+<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00702"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed">  702</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed">loadParam</a>(<span class="keyword">const</span> std::string&amp; name, T&amp; out_value)</div>
+<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  {</div>
+<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, T(), COMPULSORY, UNIQUE);</div>
+<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    out_value = ret;</div>
+<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  }</div>
+<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00719"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#ab8a37a3b88261e120d6ff36a6aebf960">  719</a></span>&#160;  T <a class="code" href="classmrs__lib_1_1ParamLoader.html#ab8a37a3b88261e120d6ff36a6aebf960">loadParam2</a>(<span class="keyword">const</span> std::string&amp; name)</div>
+<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;  {</div>
+<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, T(), COMPULSORY, UNIQUE);</div>
+<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  }</div>
+<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00736"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0">  736</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0">loadParamReusable</a>(<span class="keyword">const</span> std::string&amp; name, T&amp; out_value)</div>
+<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;  {</div>
+<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, T(), COMPULSORY, REUSABLE);</div>
+<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;    out_value = ret;</div>
+<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  }</div>
+<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00753"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">  753</a></span>&#160;  T <a class="code" href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">loadParamReusable2</a>(<span class="keyword">const</span> std::string&amp; name)</div>
+<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  {</div>
+<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [ret, success] = load&lt;T&gt;(name, T(), COMPULSORY, REUSABLE);</div>
+<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  }</div>
+<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
+<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <span class="comment">/* loadParam specializations for ros::Duration type //{ */</span></div>
+<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160; </div>
+<div class="line"><a name="l00772"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">  772</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">loadParam</a>(<span class="keyword">const</span> std::string&amp; name, ros::Duration&amp; out, <span class="keyword">const</span> ros::Duration&amp; default_value)</div>
+<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;  {</div>
+<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;    <span class="keywordtype">double</span> secs;</div>
+<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">bool</span> ret = loadParam&lt;double&gt;(name, secs, default_value.toSec());</div>
+<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;    out = ros::Duration(secs);</div>
+<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;  }</div>
+<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160; </div>
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+<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;  {</div>
+<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    <span class="keywordtype">double</span> secs;</div>
+<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">bool</span> ret = loadParam&lt;double&gt;(name, secs);</div>
+<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    out = ros::Duration(secs);</div>
+<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  }</div>
+<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;  </div>
+<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160; </div>
+<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;  <span class="comment">/* loadParam specializations for std_msgs::ColorRGBA type //{ */</span></div>
+<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160; </div>
+<div class="line"><a name="l00811"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d">  811</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d">loadParam</a>(<span class="keyword">const</span> std::string&amp; name, std_msgs::ColorRGBA&amp; out, <span class="keyword">const</span> std_msgs::ColorRGBA&amp; default_value = {})</div>
+<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;  {</div>
+<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    std_msgs::ColorRGBA res;</div>
+<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;    <span class="keywordtype">bool</span> ret = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    ret = ret &amp; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(name+<span class="stringliteral">&quot;/r&quot;</span>, res.r, default_value.r);</div>
+<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    ret = ret &amp; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(name+<span class="stringliteral">&quot;/g&quot;</span>, res.g, default_value.g);</div>
+<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;    ret = ret &amp; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(name+<span class="stringliteral">&quot;/b&quot;</span>, res.b, default_value.b);</div>
+<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    ret = ret &amp; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(name+<span class="stringliteral">&quot;/a&quot;</span>, res.a, default_value.a);</div>
+<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    <span class="keywordflow">if</span> (ret)</div>
+<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;      out = res;</div>
+<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;  }</div>
+<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160; </div>
+<div class="line"><a name="l00833"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">  833</a></span>&#160;  std_msgs::ColorRGBA <a class="code" href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">loadParam2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> std_msgs::ColorRGBA&amp; default_value = {})</div>
+<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;  {</div>
+<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    std_msgs::ColorRGBA ret;</div>
+<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;    <a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(name, ret, default_value);</div>
+<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;  }</div>
+<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
+<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160; </div>
+<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  <span class="comment">/* loadParam specializations for XmlRpc::Value type //{ */</span></div>
+<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160; </div>
+<div class="line"><a name="l00856"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42">  856</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42">loadParam</a>(<span class="keyword">const</span> std::string&amp; name, XmlRpc::XmlRpcValue&amp; out, <span class="keyword">const</span> XmlRpc::XmlRpcValue&amp; default_value)</div>
+<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;  {</div>
+<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;    <span class="keywordflow">return</span> loadParam&lt;XmlRpc::XmlRpcValue&gt;(name, out, default_value);</div>
+<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;  }</div>
+<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160; </div>
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+<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;  {</div>
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+<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160; </div>
+<div class="line"><a name="l00888"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">  888</a></span>&#160;  XmlRpc::XmlRpcValue <a class="code" href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">loadParam2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> XmlRpc::XmlRpcValue&amp; default_value)</div>
+<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;  {</div>
+<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;    <span class="keywordflow">return</span> loadParam2&lt;XmlRpc::XmlRpcValue&gt;(name, default_value);</div>
+<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;  }</div>
+<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160; </div>
+<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160; </div>
+<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;  <span class="comment">/* loadParam specializations and convenience functions for Eigen dynamic matrix type //{ */</span></div>
+<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160; </div>
+<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
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+<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;  {</div>
+<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;    mat = <a class="code" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>(name, default_value);</div>
+<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;  }</div>
+<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160; </div>
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+<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;  {</div>
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+<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  }</div>
+<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;  </div>
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+<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160; </div>
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+<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160; </div>
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+<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;  {</div>
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+<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;  }</div>
+<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160; </div>
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+<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;  {</div>
+<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;    <span class="keywordflow">return</span> loadMatrixStatic_internal(name, MatrixX&lt;T&gt;(), rows, cols, COMPULSORY, UNIQUE);</div>
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+<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160; </div>
+<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> Derived&gt;</div>
+<div class="line"><a name="l01105"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577"> 1105</a></span>&#160;  MatrixX&lt;T&gt; <a class="code" href="classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577">loadMatrixStatic2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> Eigen::MatrixBase&lt;Derived&gt;&amp; default_value, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols)</div>
+<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;  {</div>
+<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;    <span class="keywordflow">return</span> loadMatrixStatic_internal(name, MatrixX&lt;T&gt;(default_value), rows, cols, OPTIONAL, UNIQUE);</div>
+<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;  }</div>
+<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160; </div>
+<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;  <span class="comment">// loadMatrixDynamic function for half-dynamic loading of MatrixX&lt;T&gt; //{</span></div>
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+<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l01127"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390"> 1127</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">loadMatrixDynamic</a>(<span class="keyword">const</span> std::string&amp; name, MatrixX&lt;T&gt;&amp; mat, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols)</div>
+<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;  {</div>
+<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;    mat = loadMatrixDynamic2&lt;T&gt;(name, rows, cols);</div>
+<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;  }</div>
+<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160; </div>
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+<div class="line"><a name="l01147"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9"> 1147</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9">loadMatrixDynamic</a>(<span class="keyword">const</span> std::string&amp; name, MatrixX&lt;T&gt;&amp; mat, <span class="keyword">const</span> Eigen::MatrixBase&lt;Derived&gt;&amp; default_value, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols)</div>
+<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;  {</div>
+<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;    mat = loadMatrixDynamic2&lt;T&gt;(name, default_value, rows, cols);</div>
+<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;  }</div>
+<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160; </div>
+<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T = <span class="keywordtype">double</span>&gt;</div>
+<div class="line"><a name="l01166"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6"> 1166</a></span>&#160;  MatrixX&lt;T&gt; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6">loadMatrixDynamic2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols)</div>
+<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;  {</div>
+<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;    <span class="keywordflow">return</span> loadMatrixDynamic_internal(name, MatrixX&lt;T&gt;(), rows, cols, COMPULSORY, UNIQUE);</div>
+<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;  }</div>
+<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160; </div>
+<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> Derived&gt;</div>
+<div class="line"><a name="l01186"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9"> 1186</a></span>&#160;  MatrixX&lt;T&gt; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9">loadMatrixDynamic2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> Eigen::MatrixBase&lt;Derived&gt;&amp; default_value, <span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols)</div>
+<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;  {</div>
+<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160;    <span class="keywordflow">return</span> loadMatrixDynamic_internal(name, MatrixX&lt;T&gt;(default_value), rows, cols, OPTIONAL, UNIQUE);</div>
+<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;  }</div>
+<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160; </div>
+<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160; </div>
+<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;  <span class="comment">// loadMatrixArray function for loading of an array of MatrixX&lt;T&gt; with known dimensions //{</span></div>
+<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;<span class="comment"></span>  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l01227"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183"> 1227</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">loadMatrixArray</a>(<span class="keyword">const</span> std::string&amp; name, std::vector&lt;MatrixX&lt;T&gt;&gt;&amp; mat)</div>
+<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;  {</div>
+<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;    mat = loadMatrixArray2&lt;double&gt;(name);</div>
+<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;  }</div>
+<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160; </div>
+<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l01244"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942"> 1244</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942">loadMatrixArray</a>(<span class="keyword">const</span> std::string&amp; name, std::vector&lt;MatrixX&lt;T&gt;&gt;&amp; mat, <span class="keyword">const</span> std::vector&lt;MatrixX&lt;T&gt;&gt;&amp; default_value)</div>
+<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;  {</div>
+<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160;    mat = <a class="code" href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">loadMatrixArray2</a>(name, default_value);</div>
+<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;  }</div>
+<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160; </div>
+<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T = <span class="keywordtype">double</span>&gt;</div>
+<div class="line"><a name="l01260"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d"> 1260</a></span>&#160;  std::vector&lt;MatrixX&lt;T&gt;&gt; <a class="code" href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">loadMatrixArray2</a>(<span class="keyword">const</span> std::string&amp; name)</div>
+<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;  {</div>
+<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;    <span class="keywordflow">return</span> loadMatrixArray_internal(name, std::vector&lt;MatrixX&lt;T&gt;&gt;(), COMPULSORY, UNIQUE);</div>
+<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;  }</div>
+<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160; </div>
+<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l01277"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897"> 1277</a></span>&#160;  std::vector&lt;MatrixX&lt;T&gt;&gt; <a class="code" href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897">loadMatrixArray2</a>(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> std::vector&lt;MatrixX&lt;T&gt;&gt;&amp; default_value)</div>
+<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;  {</div>
+<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;    <span class="keywordflow">return</span> loadMatrixArray_internal(name, default_value, OPTIONAL, UNIQUE);</div>
+<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;  }</div>
+<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160; </div>
+<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160; </div>
+<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160;};</div>
+<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160; </div>
+<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;  ros::Duration ParamLoader::loadParam2&lt;ros::Duration&gt;(<span class="keyword">const</span> std::string&amp; name, <span class="keyword">const</span> ros::Duration&amp; default_value);</div>
+<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160; </div>
+<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
+<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;  ros::Duration ParamLoader::loadParam2&lt;ros::Duration&gt;(<span class="keyword">const</span> std::string&amp; name);</div>
+<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160; </div>
+<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160; </div>
+<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;<span class="preprocessor">#endif  // PARAM_LOADER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html_a137506901a03daeaaebcb5544de777f0"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">mrs_lib::ParamProvider::addYamlFile</a></div><div class="ttdeci">bool addYamlFile(const std::string &amp;filepath)</div><div class="ttdoc">Add a YAML file to be parsed and used for loading parameters.</div><div class="ttdef"><b>Definition:</b> param_provider.cpp:18</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a297d547c380c4ca1eab5903fcbbc5f42"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a297d547c380c4ca1eab5903fcbbc5f42">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, XmlRpc::XmlRpcValue &amp;out, const XmlRpc::XmlRpcValue &amp;default_value)</div><div class="ttdoc">An overload for loading an optional XmlRpc::XmlRpcValue.</div><div class="ttdef"><b>Definition:</b> param_loader.h:856</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a7e0a9d3c3ca4e85692999f99b51e53e7"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">mrs_lib::ParamLoader::addYamlFile</a></div><div class="ttdeci">bool addYamlFile(const std::string &amp;filepath)</div><div class="ttdoc">Adds the specified file as a source of static parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:579</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_af96b60fd7bce95d3e1d3aa351bccba9b"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#af96b60fd7bce95d3e1d3aa351bccba9b">mrs_lib::ParamLoader::loadMatrixStatic</a></div><div class="ttdeci">void loadMatrixStatic(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</div><div class="ttdoc">Specialized method for loading Eigen matrix parameters with default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1066</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a8ad978834d5d6d1745a96f1ecc65a759"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a8ad978834d5d6d1745a96f1ecc65a759">mrs_lib::ParamLoader::setPrefix</a></div><div class="ttdeci">void setPrefix(const std::string &amp;prefix)</div><div class="ttdoc">All loaded parameters will be prefixed with this string.</div><div class="ttdef"><b>Definition:</b> param_loader.h:550</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_af8ab00da18479e583adf86983e77c577"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#af8ab00da18479e583adf86983e77c577">mrs_lib::ParamLoader::loadMatrixStatic2</a></div><div class="ttdeci">MatrixX&lt; T &gt; loadMatrixStatic2(const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</div><div class="ttdoc">Specialized method for loading Eigen matrix parameters with default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1105</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_aaeaec89a76f044b2e5fe2883ae768942"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#aaeaec89a76f044b2e5fe2883ae768942">mrs_lib::ParamLoader::loadMatrixArray</a></div><div class="ttdeci">void loadMatrixArray(const std::string &amp;name, std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;mat, const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;default_value)</div><div class="ttdoc">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...</div><div class="ttdef"><b>Definition:</b> param_loader.h:1244</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_af06e1f2bdf94f8a18a19ae3e77a0f99a"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#af06e1f2bdf94f8a18a19ae3e77a0f99a">mrs_lib::ParamLoader::loadMatrixStatic2</a></div><div class="ttdeci">MatrixX&lt; T &gt; loadMatrixStatic2(const std::string &amp;name, int rows, int cols)</div><div class="ttdoc">Specialized method for loading compulsory Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1085</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ae4893dc129c5f6fd07fc26f6c03279cd"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ae4893dc129c5f6fd07fc26f6c03279cd">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, ros::Duration &amp;out)</div><div class="ttdoc">An overload for loading ros::Duration.</div><div class="ttdef"><b>Definition:</b> param_loader.h:789</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_add294058e4857eda6a8ece7e0b451390"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#add294058e4857eda6a8ece7e0b451390">mrs_lib::ParamLoader::loadParamReusable</a></div><div class="ttdeci">bool loadParamReusable(const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</div><div class="ttdoc">Loads a parameter from the rosparam server with a default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:664</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a19bc5cbd5c3ee7d4614555dfe3d96001"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a19bc5cbd5c3ee7d4614555dfe3d96001">mrs_lib::ParamLoader::loadMatrixStatic</a></div><div class="ttdeci">void loadMatrixStatic(const std::string &amp;name, Eigen::Matrix&lt; T, rows, cols &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value)</div><div class="ttdoc">Specialized method for loading Eigen matrix parameters with default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:981</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a2a78e5b64d8681a46976a6e9d0486b1a"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a2a78e5b64d8681a46976a6e9d0486b1a">mrs_lib::ParamLoader::loadMatrixStatic2</a></div><div class="ttdeci">Eigen::Matrix&lt; T, rows, cols &gt; loadMatrixStatic2(const std::string &amp;name)</div><div class="ttdoc">Specialized method for loading compulsory Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1002</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html_a6b3be6133e7eecc3f15b3c898c0911e0"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">mrs_lib::ParamProvider::getParam</a></div><div class="ttdeci">bool getParam(const std::string &amp;param_name, T &amp;value_out) const</div><div class="ttdoc">Gets the value of a parameter.</div><div class="ttdef"><b>Definition:</b> param_provider.hpp:9</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a7b31603059669efa75b00d8e73bc163a"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">mrs_lib::ParamLoader::loadParam2</a></div><div class="ttdeci">T loadParam2(const std::string &amp;name, const T &amp;default_value)</div><div class="ttdoc">Loads a parameter from the rosparam server with a default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:646</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ab8a37a3b88261e120d6ff36a6aebf960"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ab8a37a3b88261e120d6ff36a6aebf960">mrs_lib::ParamLoader::loadParam2</a></div><div class="ttdeci">T loadParam2(const std::string &amp;name)</div><div class="ttdoc">Loads a compulsory parameter from the rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:719</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_abe9a7f5aea80c8cdb2d624c12f098a90"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#abe9a7f5aea80c8cdb2d624c12f098a90">mrs_lib::ParamLoader::loadParamReusable2</a></div><div class="ttdeci">T loadParamReusable2(const std::string &amp;name)</div><div class="ttdoc">Loads a compulsory parameter from the rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:753</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a472acaab459f4318dc20df8416b6023d"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a472acaab459f4318dc20df8416b6023d">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, std_msgs::ColorRGBA &amp;out, const std_msgs::ColorRGBA &amp;default_value={})</div><div class="ttdoc">An overload for loading std_msgs::ColorRGBA.</div><div class="ttdef"><b>Definition:</b> param_loader.h:811</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a09d03d4f79736e8269f66ba2f11356c5"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a09d03d4f79736e8269f66ba2f11356c5">mrs_lib::ParamLoader::ParamLoader</a></div><div class="ttdeci">ParamLoader(const ros::NodeHandle &amp;nh, std::string_view node_name)</div><div class="ttdoc">Convenience overload to enable writing ParamLoader pl(nh, node_name);.</div><div class="ttdef"><b>Definition:</b> param_loader.h:524</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ae3e15767c2e94a1f22a9205ae3f507f1"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ae3e15767c2e94a1f22a9205ae3f507f1">mrs_lib::ParamLoader::loadParamReusable2</a></div><div class="ttdeci">T loadParamReusable2(const std::string &amp;name, const T &amp;default_value)</div><div class="ttdoc">Loads an optional reusable parameter from the rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:682</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a5368f22f9c1eee287b39bcc91b8d8f42"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a5368f22f9c1eee287b39bcc91b8d8f42">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, ros::Duration &amp;out, const ros::Duration &amp;default_value)</div><div class="ttdoc">An overload for loading ros::Duration.</div><div class="ttdef"><b>Definition:</b> param_loader.h:772</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_af7ffe39a26bd4a457ab01b83e5d5795d"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#af7ffe39a26bd4a457ab01b83e5d5795d">mrs_lib::ParamLoader::loadMatrixArray2</a></div><div class="ttdeci">std::vector&lt; MatrixX&lt; T &gt; &gt; loadMatrixArray2(const std::string &amp;name)</div><div class="ttdoc">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...</div><div class="ttdef"><b>Definition:</b> param_loader.h:1260</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ad49130b893f09bc2247e2bc37a41f6d5"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">mrs_lib::ParamLoader::loadedSuccessfully</a></div><div class="ttdeci">bool loadedSuccessfully()</div><div class="ttdoc">Indicates whether all compulsory parameters were successfully loaded.</div><div class="ttdef"><b>Definition:</b> param_loader.h:608</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ac3de917c61f02060c4e28afb2765f71c"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ac3de917c61f02060c4e28afb2765f71c">mrs_lib::ParamLoader::ParamLoader</a></div><div class="ttdeci">ParamLoader(const std::string &amp;filepath, const ros::NodeHandle &amp;nh)</div><div class="ttdoc">Convenience overload to enable writing ParamLoader pl(nh, &quot;node_name&quot;);.</div><div class="ttdef"><b>Definition:</b> param_loader.h:536</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_af5397147ce0a3ecaf0e1f178a9435183"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#af5397147ce0a3ecaf0e1f178a9435183">mrs_lib::ParamLoader::loadMatrixArray</a></div><div class="ttdeci">void loadMatrixArray(const std::string &amp;name, std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;mat)</div><div class="ttdoc">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...</div><div class="ttdef"><b>Definition:</b> param_loader.h:1227</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a6b1fbdb2c1ed41ac533a67abad8638d9"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a6b1fbdb2c1ed41ac533a67abad8638d9">mrs_lib::ParamLoader::loadMatrixDynamic</a></div><div class="ttdeci">void loadMatrixDynamic(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</div><div class="ttdoc">Specialized method for loading compulsory dynamic Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1147</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a880ad3b0f30ecd7b7742766253422c6a"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a880ad3b0f30ecd7b7742766253422c6a">mrs_lib::ParamLoader::loadParam2</a></div><div class="ttdeci">XmlRpc::XmlRpcValue loadParam2(const std::string &amp;name, const XmlRpc::XmlRpcValue &amp;default_value)</div><div class="ttdoc">An overload for loading an optional XmlRpc::XmlRpcValue.</div><div class="ttdef"><b>Definition:</b> param_loader.h:888</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a03dc26f5fad92b0fb8b7437c074b23aa"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a03dc26f5fad92b0fb8b7437c074b23aa">mrs_lib::ParamLoader::loadMatrixStatic</a></div><div class="ttdeci">void loadMatrixStatic(const std::string &amp;name, Eigen::Matrix&lt; T, rows, cols &gt; &amp;mat)</div><div class="ttdoc">Specialized method for loading compulsory Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:959</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a9e55225fa7d9de0e948b2e64494eb229"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</div><div class="ttdoc">Loads a parameter from the rosparam server with a default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:628</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a46bb91300eaa5c0d06d462b950f92897"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a46bb91300eaa5c0d06d462b950f92897">mrs_lib::ParamLoader::loadMatrixArray2</a></div><div class="ttdeci">std::vector&lt; MatrixX&lt; T &gt; &gt; loadMatrixArray2(const std::string &amp;name, const std::vector&lt; MatrixX&lt; T &gt;&gt; &amp;default_value)</div><div class="ttdoc">Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matric...</div><div class="ttdef"><b>Definition:</b> param_loader.h:1277</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a31b36d7e1109d2c1d663122c689359c0"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a31b36d7e1109d2c1d663122c689359c0">mrs_lib::ParamLoader::loadParamReusable</a></div><div class="ttdeci">bool loadParamReusable(const std::string &amp;name, T &amp;out_value)</div><div class="ttdoc">Loads a compulsory parameter from the rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:736</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></div><div class="ttdoc">Convenience class for loading parameters from rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:43</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_aabecb03ea3643752ddc3154e6c58d390"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#aabecb03ea3643752ddc3154e6c58d390">mrs_lib::ParamLoader::loadMatrixDynamic</a></div><div class="ttdeci">void loadMatrixDynamic(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, int rows, int cols)</div><div class="ttdoc">Specialized method for loading compulsory dynamic Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1127</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a080f2c2605b42219c63d62d0fd8e0948"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a080f2c2605b42219c63d62d0fd8e0948">mrs_lib::ParamLoader::loadParam2</a></div><div class="ttdeci">MatrixX&lt; T &gt; loadParam2(const std::string &amp;name, const MatrixX&lt; T &gt; &amp;default_value)</div><div class="ttdoc">An overload for loading Eigen matrices.</div><div class="ttdef"><b>Definition:</b> param_loader.h:930</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a708d62a49386efe8334d8c13af2d8f85"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a708d62a49386efe8334d8c13af2d8f85">mrs_lib::ParamLoader::loadParam2</a></div><div class="ttdeci">std_msgs::ColorRGBA loadParam2(const std::string &amp;name, const std_msgs::ColorRGBA &amp;default_value={})</div><div class="ttdoc">An overload for loading std_msgs::ColorRGBA.</div><div class="ttdef"><b>Definition:</b> param_loader.h:833</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a68eb35df103229cd2de7416252723bf8"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a68eb35df103229cd2de7416252723bf8">mrs_lib::ParamLoader::getPrefix</a></div><div class="ttdeci">std::string getPrefix()</div><div class="ttdoc">Returns the current parameter name prefix.</div><div class="ttdef"><b>Definition:</b> param_loader.h:564</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_af5d9f2ac1549f9a7f03a04b9cebf9fed"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#af5d9f2ac1549f9a7f03a04b9cebf9fed">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, T &amp;out_value)</div><div class="ttdoc">Loads a compulsory parameter from the rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:702</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a6ee4d78d716c92045a38c40d6ae41c4d"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a6ee4d78d716c92045a38c40d6ae41c4d">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">void loadParam(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, const MatrixX&lt; T &gt; &amp;default_value)</div><div class="ttdoc">An overload for loading Eigen matrices.</div><div class="ttdef"><b>Definition:</b> param_loader.h:911</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ab6b1b2b00e8548b092893afcfbeee79f"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ab6b1b2b00e8548b092893afcfbeee79f">mrs_lib::ParamLoader::loadMatrixStatic2</a></div><div class="ttdeci">Eigen::Matrix&lt; T, rows, cols &gt; loadMatrixStatic2(const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value)</div><div class="ttdoc">Specialized method for loading Eigen matrix parameters with default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1024</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a3ae6c294bc7bcf0fa17557ee36e04b31"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a3ae6c294bc7bcf0fa17557ee36e04b31">mrs_lib::ParamLoader::addYamlFileFromParam</a></div><div class="ttdeci">bool addYamlFileFromParam(const std::string &amp;param_name)</div><div class="ttdoc">Loads a filepath from a parameter loads that file as a YAML.</div><div class="ttdef"><b>Definition:</b> param_loader.h:593</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a89bdbb61a1de508cc0f247f234d824d6"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a89bdbb61a1de508cc0f247f234d824d6">mrs_lib::ParamLoader::loadMatrixDynamic2</a></div><div class="ttdeci">MatrixX&lt; T &gt; loadMatrixDynamic2(const std::string &amp;name, int rows, int cols)</div><div class="ttdoc">Specialized method for loading compulsory dynamic Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1166</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a759df0d67059a44f87d1205782d4e4f7"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a759df0d67059a44f87d1205782d4e4f7">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, XmlRpc::XmlRpcValue &amp;out)</div><div class="ttdoc">An overload for loading a compulsory XmlRpc::XmlRpcValue.</div><div class="ttdef"><b>Definition:</b> param_loader.h:872</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></div><div class="ttdoc">Helper class for ParamLoader.</div><div class="ttdef"><b>Definition:</b> param_provider.h:28</div></div>
+<div class="ttc" id="aparam__provider_8h_html"><div class="ttname"><a href="param__provider_8h.html">param_provider.h</a></div><div class="ttdoc">Defines ParamProvider - a helper class for ParamLoader.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a26079fe045fe261add0548c40c5d3baa"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a26079fe045fe261add0548c40c5d3baa">mrs_lib::ParamLoader::ParamLoader</a></div><div class="ttdeci">ParamLoader(const ros::NodeHandle &amp;nh, bool printValues=true, std::string_view node_name=std::string())</div><div class="ttdoc">Main constructor.</div><div class="ttdef"><b>Definition:</b> param_loader.h:507</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a99673cb2d8f39c18da5e6db967238ec9"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a99673cb2d8f39c18da5e6db967238ec9">mrs_lib::ParamLoader::loadMatrixDynamic2</a></div><div class="ttdeci">MatrixX&lt; T &gt; loadMatrixDynamic2(const std::string &amp;name, const Eigen::MatrixBase&lt; Derived &gt; &amp;default_value, int rows, int cols)</div><div class="ttdoc">Specialized method for loading compulsory dynamic Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1186</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_aafc3bb716f3728d5a1b1cfc45b0d3ddf"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#aafc3bb716f3728d5a1b1cfc45b0d3ddf">mrs_lib::ParamLoader::loadMatrixStatic</a></div><div class="ttdeci">void loadMatrixStatic(const std::string &amp;name, MatrixX&lt; T &gt; &amp;mat, int rows, int cols)</div><div class="ttdoc">Specialized method for loading compulsory Eigen matrix parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:1046</div></div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle">
+<div class="title">param_provider.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines ParamProvider - a helper class for ParamLoader.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;yaml-cpp/yaml.h&gt;</code><br />
+<code>#include &lt;ros/node_handle.h&gt;</code><br />
+<code>#include &quot;mrs_lib/impl/param_provider.hpp&quot;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for param_provider.h:</div>
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+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
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+<table class="memberdecls">
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+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines ParamProvider - a helper class for ParamLoader. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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+  </ul>
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+<a href="param__provider_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef PARAM_PROVIDER_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define PARAM_PROVIDER_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;ros/node_handle.h&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">/*** ParamProvider CLASS //{ **/</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamProvider.html">   28</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ParamProvider.html">ParamProvider</a></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  {</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <a class="code" href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">ParamProvider</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, std::string node_name, <span class="keyword">const</span> <span class="keywordtype">bool</span> use_rosparam = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">addYamlFile</a>(<span class="keyword">const</span> std::string&amp; filepath);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(<span class="keyword">const</span> std::string&amp; param_name, T&amp; value_out) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">getParam</a>(<span class="keyword">const</span> std::string&amp; param_name, XmlRpc::XmlRpcValue&amp; value_out) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      std::vector&lt;YAML::Node&gt; m_yamls;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      ros::NodeHandle m_nh;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      std::string m_node_name;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">bool</span> m_use_rosparam;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordtype">bool</span> getParamImpl(<span class="keyword">const</span> std::string&amp; param_name, T&amp; value_out) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      std::optional&lt;YAML::Node&gt; findYamlNode(<span class="keyword">const</span> std::string&amp; param_name) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  };</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="preprocessor">#include &quot;mrs_lib/impl/param_provider.hpp&quot;</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#endif // PARAM_PROVIDER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html_a137506901a03daeaaebcb5544de777f0"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html#a137506901a03daeaaebcb5544de777f0">mrs_lib::ParamProvider::addYamlFile</a></div><div class="ttdeci">bool addYamlFile(const std::string &amp;filepath)</div><div class="ttdoc">Add a YAML file to be parsed and used for loading parameters.</div><div class="ttdef"><b>Definition:</b> param_provider.cpp:18</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html_aa6f38dd58d2fd1093d6646134a5d6e59"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html#aa6f38dd58d2fd1093d6646134a5d6e59">mrs_lib::ParamProvider::ParamProvider</a></div><div class="ttdeci">ParamProvider(const ros::NodeHandle &amp;nh, std::string node_name, const bool use_rosparam=true)</div><div class="ttdoc">Main constructor.</div><div class="ttdef"><b>Definition:</b> param_provider.cpp:13</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html_a6b3be6133e7eecc3f15b3c898c0911e0"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">mrs_lib::ParamProvider::getParam</a></div><div class="ttdeci">bool getParam(const std::string &amp;param_name, T &amp;value_out) const</div><div class="ttdoc">Gets the value of a parameter.</div><div class="ttdef"><b>Definition:</b> param_provider.hpp:9</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html">mrs_lib::ParamProvider</a></div><div class="ttdoc">Helper class for ParamLoader.</div><div class="ttdef"><b>Definition:</b> param_provider.h:28</div></div>
+<!-- start footer part -->
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+<div class="title">param_provider.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PARAM_PROVIDER_HPP</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PARAM_PROVIDER_HPP</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="param__provider_8h.html">mrs_lib/param_provider.h</a>&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;{</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">    9</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">ParamProvider::getParam</a>(<span class="keyword">const</span> std::string&amp; param_name, T&amp; value_out)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <span class="keywordflow">try</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;      <span class="keywordflow">return</span> getParamImpl(param_name, value_out);</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    }</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keywordflow">catch</span> (<span class="keyword">const</span> YAML::Exception&amp; e)</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    {</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;      ROS_ERROR_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: YAML-CPP threw an unknown exception: &quot;</span> &lt;&lt; e.what());</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    }</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  }</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keywordtype">bool</span> ParamProvider::getParamImpl(<span class="keyword">const</span> std::string&amp; param_name, T&amp; value_out)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> found_node = findYamlNode(param_name);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="keywordflow">if</span> (found_node.has_value())</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;      {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        <span class="keywordflow">try</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;          <span class="comment">// try catch is the only type-generic option...</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;          value_out = found_node.value().as&lt;T&gt;();</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        }</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keywordflow">catch</span> (<span class="keyword">const</span> YAML::BadConversion&amp; e)</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        {}</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      }</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    }</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">if</span> (m_use_rosparam)</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keywordflow">return</span> m_nh.getParam(param_name, value_out);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  }</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;}</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#endif // PARAM_PROVIDER_HPP</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ParamProvider_html_a6b3be6133e7eecc3f15b3c898c0911e0"><div class="ttname"><a href="classmrs__lib_1_1ParamProvider.html#a6b3be6133e7eecc3f15b3c898c0911e0">mrs_lib::ParamProvider::getParam</a></div><div class="ttdeci">bool getParam(const std::string &amp;param_name, T &amp;value_out) const</div><div class="ttdoc">Gets the value of a parameter.</div><div class="ttdef"><b>Definition:</b> param_provider.hpp:9</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aparam__provider_8h_html"><div class="ttname"><a href="param__provider_8h.html">param_provider.h</a></div><div class="ttdoc">Defines ParamProvider - a helper class for ParamLoader.</div></div>
+<!-- start footer part -->
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+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="dir_7164529cd9c8f96b25598799ea656806.html">impl</a></li><li class="navelem"><b>param_provider.hpp</b></li>
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diff --git a/param_loader_2example_8cpp-example.html b/param_loader_2example_8cpp-example.html
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">param_loader/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> param_loader_example</code>. It demonstrates loading of parameters from the <code>rosparam</code> server inside your node/nodelet using <code>ParamLoader</code>.</p>
+<p>To load parameters into the <code>rosparam</code> server, use a launchfile prefferably. See documentation of ROS launchfiles here: <a href="http://wiki.ros.org/roslaunch/XML">http://wiki.ros.org/roslaunch/XML</a>. Specifically, the <code>param</code> XML tag is used for loading parameters directly from the launchfile: <a href="http://wiki.ros.org/roslaunch/XML/param,">http://wiki.ros.org/roslaunch/XML/param,</a> and the <code>rosparam</code> XML tag tag is used for loading parameters from a <code>yaml</code> file: <a href="http://wiki.ros.org/roslaunch/XML/rosparam">http://wiki.ros.org/roslaunch/XML/rosparam</a>.</p>
+<p>Example code for using the ParamLoader (see documentation of the ParamLoader class):</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">/* Include the ParamLoader header */</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="param__loader_8h.html">mrs_lib/param_loader.h</a>&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">/* Set up ROS. */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string node_name(<span class="stringliteral">&quot;param_loader_example&quot;</span>);</div>
+<div class="line">  ros::init(argc, argv, node_name);</div>
+<div class="line">  ros::NodeHandle nh;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Set up some parameters to be loaded by the example. In normal usage,</span></div>
+<div class="line"><span class="comment">   * you don&#39;t have to do this. Parameters are loaded from the rosparam</span></div>
+<div class="line"><span class="comment">   * server or directly from a YAML file. */</span></div>
+<div class="line">  ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt; <span class="stringliteral">&quot;]: pushing testing parameters to the rosparam server&quot;</span>);</div>
+<div class="line">  nh.setParam(<span class="stringliteral">&quot;test_param_double&quot;</span>, std::numeric_limits&lt;double&gt;::quiet_NaN());</div>
+<div class="line">  nh.setParam(<span class="stringliteral">&quot;test_param_vector&quot;</span>, std::vector&lt;int&gt;({6, 6, 6}));</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Initialize the param loader with a NodeHandle and optionally the name of this node. */</span></div>
+<div class="line">  ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt;<span class="stringliteral">&quot; ]: loading parameters using ParamLoader&quot;</span>);</div>
+<div class="line">  <a name="_a0"></a><a class="code" href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a> pl(nh, node_name);</div>
+<div class="line">  </div>
+<div class="line">  <span class="comment">/* Most basic way to load a parameter to a variable, which could be a class member */</span> </div>
+<div class="line">  <span class="keywordtype">double</span> test_param_double;</div>
+<div class="line">  pl.<a name="a1"></a><a class="code" href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">loadParam</a>(<span class="stringliteral">&quot;test_param_double&quot;</span>, test_param_double);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Load a parameter and return it */</span> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> test_param_vector = pl.<a name="a2"></a><a class="code" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>&lt;std::vector&lt;int&gt;&gt;(<span class="stringliteral">&quot;test_param_vector&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Load a parameter with a default value, which will be used in this case</span></div>
+<div class="line"><span class="comment">   * unless you manually push the parameter &#39;test_param_int&#39; to the rosparam server</span></div>
+<div class="line"><span class="comment">   * (e.g. using &#39;rosparam set test_param_int 15&#39;). */</span> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> test_param_int = pl.<a class="code" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>&lt;<span class="keywordtype">int</span>&gt;(<span class="stringliteral">&quot;test_param_int&quot;</span>, 4);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Load a compulsory parameter - without a default value. This will fail in this</span></div>
+<div class="line"><span class="comment">   * case, unless you manually push the parameter to the server. */</span> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> test_param_bool = pl.<a class="code" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>&lt;<span class="keywordtype">bool</span>&gt;(<span class="stringliteral">&quot;test_param_bool&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* So far, all the parameters were loaded from the ROS parameter server.</span></div>
+<div class="line"><span class="comment">   * These must be loaded to the server using the param or rosparam commands</span></div>
+<div class="line"><span class="comment">   * in the launchfile (or manually using the CLI tools). However, loading</span></div>
+<div class="line"><span class="comment">   * a large number of parameters from the ROS server in parallel can be slow,</span></div>
+<div class="line"><span class="comment">   * so we also offer the possibility to load parameters directly from a YAML file.</span></div>
+<div class="line"><span class="comment">   * To do this, firstly you tell the ParamLoader which file to use: */</span></div>
+<div class="line">  pl.<a name="a3"></a><a class="code" href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">addYamlFile</a>(<span class="stringliteral">&quot;/tmp/test.yaml&quot;</span>);</div>
+<div class="line">  <span class="comment">/* (Note that this file will have to be created manually in this case for this */</span></div>
+<div class="line">  <span class="comment">/*  example to work.) */</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Then, you can load parameters specified in the file normally. */</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> string_from_yaml = pl.<a class="code" href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">loadParam2</a>&lt;std::string&gt;(<span class="stringliteral">&quot;string_from_yaml&quot;</span>);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Check if all parameters were loaded successfully */</span> </div>
+<div class="line">  <span class="keywordflow">if</span> (!pl.<a name="a4"></a><a class="code" href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">loadedSuccessfully</a>())</div>
+<div class="line">  {</div>
+<div class="line">    <span class="comment">/* If not, alert the user and shut the node down */</span> </div>
+<div class="line">    ROS_ERROR_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt; <span class="stringliteral">&quot;]: parameter loading failure! Ending the node&quot;</span>);</div>
+<div class="line">    ros::shutdown();</div>
+<div class="line">    <span class="keywordflow">return</span> 1;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Otherwise, continue the program and happily use the loaded parameters! */</span> </div>
+<div class="line">  <span class="comment">/* This is just some nonsense usage for demonstration. */</span></div>
+<div class="line">  <span class="keywordflow">if</span> (test_param_bool)</div>
+<div class="line">  {</div>
+<div class="line">    ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt; <span class="stringliteral">&quot;]: Showing values of: &quot;</span> &lt;&lt; string_from_yaml);</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; el : test_param_vector)</div>
+<div class="line">      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt; <span class="stringliteral">&quot;]: Value: &quot;</span> &lt;&lt; test_param_double * el + test_param_int);</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line"> </div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a7e0a9d3c3ca4e85692999f99b51e53e7"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a7e0a9d3c3ca4e85692999f99b51e53e7">mrs_lib::ParamLoader::addYamlFile</a></div><div class="ttdeci">bool addYamlFile(const std::string &amp;filepath)</div><div class="ttdoc">Adds the specified file as a source of static parameters.</div><div class="ttdef"><b>Definition:</b> param_loader.h:579</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a7b31603059669efa75b00d8e73bc163a"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a7b31603059669efa75b00d8e73bc163a">mrs_lib::ParamLoader::loadParam2</a></div><div class="ttdeci">T loadParam2(const std::string &amp;name, const T &amp;default_value)</div><div class="ttdoc">Loads a parameter from the rosparam server with a default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:646</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_ad49130b893f09bc2247e2bc37a41f6d5"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#ad49130b893f09bc2247e2bc37a41f6d5">mrs_lib::ParamLoader::loadedSuccessfully</a></div><div class="ttdeci">bool loadedSuccessfully()</div><div class="ttdoc">Indicates whether all compulsory parameters were successfully loaded.</div><div class="ttdef"><b>Definition:</b> param_loader.h:608</div></div>
+<div class="ttc" id="aparam__loader_8h_html"><div class="ttname"><a href="param__loader_8h.html">param_loader.h</a></div><div class="ttdoc">Defines ParamLoader - a convenience class for loading static ROS parameters.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html_a9e55225fa7d9de0e948b2e64494eb229"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html#a9e55225fa7d9de0e948b2e64494eb229">mrs_lib::ParamLoader::loadParam</a></div><div class="ttdeci">bool loadParam(const std::string &amp;name, T &amp;out_value, const T &amp;default_value)</div><div class="ttdoc">Loads a parameter from the rosparam server with a default value.</div><div class="ttdef"><b>Definition:</b> param_loader.h:628</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ParamLoader_html"><div class="ttname"><a href="classmrs__lib_1_1ParamLoader.html">mrs_lib::ParamLoader</a></div><div class="ttdoc">Convenience class for loading parameters from rosparam server.</div><div class="ttdef"><b>Definition:</b> param_loader.h:43</div></div>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">polygon.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: TomasFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#ifndef MRS_LIB_POLYGON_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#define MRS_LIB_POLYGON_H</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Eigen&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Point.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/safety_zone/line_operations.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Polygon.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1Polygon.html">Polygon</a> {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="classmrs__lib_1_1Polygon.html">Polygon</a>(<span class="keyword">const</span> Eigen::MatrixXd vertices);</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keywordtype">bool</span> isPointInside(<span class="keyword">const</span> <span class="keywordtype">double</span> px, <span class="keyword">const</span> <span class="keywordtype">double</span> py);</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keywordtype">bool</span> doesSectionIntersect(<span class="keyword">const</span> <span class="keywordtype">double</span> startX, <span class="keyword">const</span> <span class="keywordtype">double</span> startY, <span class="keyword">const</span> <span class="keywordtype">double</span> endX, <span class="keyword">const</span> <span class="keywordtype">double</span> endY);</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keywordtype">bool</span> isClockwise();</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordtype">void</span> inflateSelf(<span class="keywordtype">double</span> amount);</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
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+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  };</div>
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+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#endif  // MRS_LIB_POLYGON_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1Polygon_1_1WrongNumberOfVertices_html"><div class="ttname"><a href="structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices.html">mrs_lib::Polygon::WrongNumberOfVertices</a></div><div class="ttdef"><b>Definition:</b> polygon.h:29</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Polygon_html"><div class="ttname"><a href="classmrs__lib_1_1Polygon.html">mrs_lib::Polygon</a></div><div class="ttdef"><b>Definition:</b> polygon.h:13</div></div>
+<div class="ttc" id="astructmrs__lib_1_1Polygon_1_1ExtraVertices_html"><div class="ttname"><a href="structmrs__lib_1_1Polygon_1_1ExtraVertices.html">mrs_lib::Polygon::ExtraVertices</a></div><div class="ttdef"><b>Definition:</b> polygon.h:43</div></div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
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+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<p>A scoped function profiler which publishes ROS messages.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;mrs_msgs/ProfilerUpdate.h&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for profiler.h:</div>
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+</div>
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+<p><a href="profiler_8h_source.html">Go to the source code of this file.</a></p>
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+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Routine.html">mrs_lib::Routine</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1Profiler.html">mrs_lib::Profiler</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A scoped function profiler which publishes ROS messages. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomas Baca - <a href="#" onclick="location.href='mai'+'lto:'+'tom'+'as'+'.ba'+'ca'+'@fe'+'l.'+'cvu'+'t.'+'cz'; return false;">tomas<span style="display: none;">.nosp@m.</span>.bac<span style="display: none;">.nosp@m.</span>a@fel<span style="display: none;">.nosp@m.</span>.cvu<span style="display: none;">.nosp@m.</span>t.cz</a> </dd></dl>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="profiler_8h.html">profiler.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<title>mrs_lib: include/mrs_lib/profiler.h Source File</title>
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">profiler.h</div>  </div>
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+<div class="contents">
+<a href="profiler_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef PROFILER_H</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define PROFILER_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/ProfilerUpdate.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
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+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Routine.html">   15</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1Routine.html">Routine</a> {</div>
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+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;          <span class="keywordtype">bool</span> profiler_enabled);</div>
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+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;          std::shared_ptr&lt;std::mutex&gt; mutex_publisher, <span class="keywordtype">bool</span> profiler_enabled, ros::TimerEvent event);</div>
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+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keywordtype">void</span> end(<span class="keywordtype">void</span>);</div>
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+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  std::string _routine_name_;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  std::string _node_name_;</div>
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+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  std::shared_ptr&lt;std::mutex&gt;     mutex_publisher_;</div>
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+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="comment">// those are the stats from the execution of the routine</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  ros::Time execution_start_;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="comment">// this will be published</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  mrs_msgs::ProfilerUpdate msg_out_;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;};</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Profiler.html">   46</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1Profiler.html">Profiler</a> {</div>
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+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <a class="code" href="classmrs__lib_1_1Routine.html">Routine</a> <a class="code" href="classmrs__lib_1_1Profiler.html#aaf170ec3c6f67e11931cde978a5d3750">createRoutine</a>(std::string name);</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">private</span>:</div>
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+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  std::shared_ptr&lt;std::mutex&gt;     mutex_publisher_;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  std::string                     _node_name_;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">bool</span>                            _profiler_enabled_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  std::shared_ptr&lt;ros::NodeHandle&gt; nh_;</div>
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+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">bool</span> is_initialized_ = <span class="keyword">false</span>;</div>
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+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="preprocessor">#endif</span></div>
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+<div class="ttc" id="aclassmrs__lib_1_1Profiler_html"><div class="ttname"><a href="classmrs__lib_1_1Profiler.html">mrs_lib::Profiler</a></div><div class="ttdef"><b>Definition:</b> profiler.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Profiler_html_ae054cd2655538ee7b4a0dec35aa0cf16"><div class="ttname"><a href="classmrs__lib_1_1Profiler.html#ae054cd2655538ee7b4a0dec35aa0cf16">mrs_lib::Profiler::operator=</a></div><div class="ttdeci">Profiler &amp; operator=(const Profiler &amp;other)</div><div class="ttdoc">the assignment operator</div><div class="ttdef"><b>Definition:</b> profiler.cpp:42</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Profiler_html_aaf170ec3c6f67e11931cde978a5d3750"><div class="ttname"><a href="classmrs__lib_1_1Profiler.html#aaf170ec3c6f67e11931cde978a5d3750">mrs_lib::Profiler::createRoutine</a></div><div class="ttdeci">Routine createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event)</div><div class="ttdoc">create a routine for a periodic function</div><div class="ttdef"><b>Definition:</b> profiler.cpp:65</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Profiler_html_aeb0acb43639e4e29572b1ecbedf6029e"><div class="ttname"><a href="classmrs__lib_1_1Profiler.html#aeb0acb43639e4e29572b1ecbedf6029e">mrs_lib::Profiler::Profiler</a></div><div class="ttdeci">Profiler()</div><div class="ttdoc">the basic constructor</div><div class="ttdef"><b>Definition:</b> profiler.cpp:10</div></div>
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+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+<a href="#nested-classes">Classes</a> &#124;
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+<div class="title">publisher_handler.h File Reference</div>  </div>
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+<p>Defines PublisherHandler and related convenience classes for upgrading the ROS publisher.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;ros/package.h&gt;</code><br />
+<code>#include &lt;atomic&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;mrs_lib/impl/publisher_handler.hpp&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl&lt; TopicType &gt;</a></td></tr>
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">user wrapper of the publisher handler implementation  <a href="classmrs__lib_1_1PublisherHandler.html#details">More...</a><br /></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines PublisherHandler and related convenience classes for upgrading the ROS publisher. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomas Baca - <a href="#" onclick="location.href='mai'+'lto:'+'tom'+'as'+'.ba'+'ca'+'@fe'+'l.'+'cvu'+'t.'+'cz'; return false;">tomas<span style="display: none;">.nosp@m.</span>.bac<span style="display: none;">.nosp@m.</span>a@fel<span style="display: none;">.nosp@m.</span>.cvu<span style="display: none;">.nosp@m.</span>t.cz</a> </dd></dl>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">publisher_handler.h</div>  </div>
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+<div class="contents">
+<a href="publisher__handler_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef PUBLISHER_HANDLER_H</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define PUBLISHER_HANDLER_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;ros/package.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/* class PublisherHandler_impl //{ */</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html">PublisherHandler_impl</a> {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">PublisherHandler_impl</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">   35</a></span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">~PublisherHandler_impl</a>(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">PublisherHandler_impl</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; buffer_size = 1, <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp; latch = <span class="keyword">false</span>,</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                        <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; rate = 0.0);</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">publish</a>(<span class="keyword">const</span> TopicType&amp; msg);</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType&gt;&amp; msg);</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType const&gt;&amp; msg);</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">getNumSubscribers</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  ros::Publisher    publisher_;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  std::mutex        mutex_publisher_;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::atomic&lt;bool&gt; publisher_initialized_;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordtype">bool</span>      throttle_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">double</span>    throttle_min_dt_;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  ros::Time last_time_published_;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;};</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">/* class PublisherHandler //{ */</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html">   95</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a> {</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">  101</a></span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler</a>(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">  106</a></span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">~PublisherHandler</a>(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a>&amp; <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">operator=</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a>&amp; other);</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler</a>&amp; other);</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <a class="code" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; buffer_size = 1, <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp; latch = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; rate = 0);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">publish</a>(<span class="keyword">const</span> TopicType&amp; msg);</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType&gt;&amp; msg);</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType const&gt;&amp; msg);</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">getNumSubscribers</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  std::shared_ptr&lt;PublisherHandler_impl&lt;TopicType&gt;&gt; impl_;</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;};</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/impl/publisher_handler.hpp&gt;</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="preprocessor">#endif  // PUBLISHER_HANDLER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_aefafd64bd0d8a9b9717c94b76368fd0d"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">mrs_lib::PublisherHandler::PublisherHandler</a></div><div class="ttdeci">PublisherHandler(void)</div><div class="ttdoc">generic constructor</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:101</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_a0c5bebc2848b0547048edb1297833290"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">mrs_lib::PublisherHandler::publish</a></div><div class="ttdeci">void publish(const TopicType &amp;msg)</div><div class="ttdoc">publish message</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:209</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_a4404a3234f548fe9184ec43ac18c9671"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">mrs_lib::PublisherHandler_impl::publish</a></div><div class="ttdeci">void publish(const TopicType &amp;msg)</div><div class="ttdoc">publish message</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:54</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_a9acaa1ef56768636f2163c75dd9e307e"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#a9acaa1ef56768636f2163c75dd9e307e">mrs_lib::PublisherHandler::~PublisherHandler</a></div><div class="ttdeci">~PublisherHandler(void)</div><div class="ttdoc">generic destructor</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:106</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_a23a8578213fd78347ebaa259ee17c218"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">mrs_lib::PublisherHandler::operator=</a></div><div class="ttdeci">PublisherHandler &amp; operator=(const PublisherHandler &amp;other)</div><div class="ttdoc">operator=</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:168</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html">mrs_lib::PublisherHandler_impl</a></div><div class="ttdoc">implementation of the publisher handler</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_a2043d0a61e0ff0dbd0acd6a64f1e4bef"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">mrs_lib::PublisherHandler_impl::getNumSubscribers</a></div><div class="ttdeci">unsigned int getNumSubscribers(void)</div><div class="ttdoc">get number of subscribers</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:150</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_a685a159577dfe363423c58a91ba92ac6"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#a685a159577dfe363423c58a91ba92ac6">mrs_lib::PublisherHandler_impl::~PublisherHandler_impl</a></div><div class="ttdeci">~PublisherHandler_impl(void)</div><div class="ttdoc">default destructor</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:35</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a></div><div class="ttdoc">user wrapper of the publisher handler implementation</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:95</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_acae5a82536022514c6a2cefa2f7980b1"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">mrs_lib::PublisherHandler::getNumSubscribers</a></div><div class="ttdeci">unsigned int getNumSubscribers(void)</div><div class="ttdoc">get number of subscribers</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:239</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_ab6dfde5a454ce357957a2ea8618890fc"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">mrs_lib::PublisherHandler_impl::PublisherHandler_impl</a></div><div class="ttdeci">PublisherHandler_impl(void)</div><div class="ttdoc">default constructor</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:14</div></div>
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+<div class="title">publisher_handler.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PUBLISHER_HANDLER_HPP</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PUBLISHER_HANDLER_HPP</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;{</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// |                    PublisherHandler_impl                   |</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">/* PublisherHandler_impl(void) //{ */</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">   14</a></span>&#160;<a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">PublisherHandler_impl&lt;TopicType&gt;::PublisherHandler_impl</a>(<span class="keywordtype">void</span>) : publisher_initialized_(false) {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;}</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">/* PublisherHandler_impl(ros::NodeHandle&amp; nh, const std::string&amp; address, const unsigned int &amp;buffer_size, const bool &amp;latch) //{ */</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#a9168a142f84bf96f73563fe5f3589ce7">   22</a></span>&#160;<a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">PublisherHandler_impl&lt;TopicType&gt;::PublisherHandler_impl</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; buffer_size, <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp; latch,</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                                                        <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; rate) {</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    std::scoped_lock lock(mutex_publisher_);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    publisher_ = nh.advertise&lt;TopicType&gt;(address, buffer_size, latch);</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordflow">if</span> (rate &gt; 0.0) {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      throttle_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
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+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      throttle_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      throttle_min_dt_ = 0;</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    }</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    last_time_published_ = ros::Time(0);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  }</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  publisher_initialized_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;}</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">/* publish(TopicType&amp; msg) //{ */</span></div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">   54</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">PublisherHandler_impl&lt;TopicType&gt;::publish</a>(<span class="keyword">const</span> TopicType&amp; msg) {</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">if</span> (!publisher_initialized_) {</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  {</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    std::scoped_lock lock(mutex_publisher_);</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">if</span> (throttle_) {</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keywordflow">if</span> ((ros::Time::now() - last_time_published_).toSec() &lt; throttle_min_dt_) {</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      }</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      last_time_published_ = ros::Time::now();</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">try</span> {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      publisher_.publish(msg);</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">catch</span> (...) {</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      ROS_ERROR(<span class="stringliteral">&quot;exception caught during publishing topic &#39;%s&#39;&quot;</span>, publisher_.getTopic().c_str());</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">/* publish(const boost::shared_ptr&lt;TopicType&gt;&amp; msg) //{ */</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#ad41ed622292e537101a2dac779c08f34">   86</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">PublisherHandler_impl&lt;TopicType&gt;::publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType&gt;&amp; msg) {</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (!publisher_initialized_) {</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  {</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    std::scoped_lock lock(mutex_publisher_);</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span> (throttle_) {</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keywordflow">if</span> ((ros::Time::now() - last_time_published_).toSec() &lt; throttle_min_dt_) {</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      last_time_published_ = ros::Time::now();</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">try</span> {</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      publisher_.publish(msg);</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    }</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">catch</span> (...) {</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      ROS_ERROR(<span class="stringliteral">&quot;exception caught during publishing topic &#39;%s&#39;&quot;</span>, publisher_.getTopic().c_str());</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;}</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
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+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">/* publish(const boost::shared_ptr&lt;TopicType const&gt;&amp; msg) //{ */</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#a80c0caa745661936409fdc93277e7453">  118</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">PublisherHandler_impl&lt;TopicType&gt;::publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType const&gt;&amp; msg) {</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (!publisher_initialized_) {</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  }</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  {</div>
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+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (throttle_) {</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
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+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      last_time_published_ = ros::Time::now();</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">try</span> {</div>
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+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">catch</span> (...) {</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      ROS_ERROR(<span class="stringliteral">&quot;exception caught during publishing topic &#39;%s&#39;&quot;</span>, publisher_.getTopic().c_str());</div>
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+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  }</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;}</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
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+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">  150</a></span>&#160;<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">PublisherHandler_impl&lt;TopicType&gt;::getNumSubscribers</a>(<span class="keywordtype">void</span>) {</div>
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+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  {</div>
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+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">return</span> publisher_.getNumSubscribers();</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
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+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">// |                      PublisherHandler                      |</span></div>
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+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">/* operator= //{ */</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">  168</a></span>&#160;<a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler&lt;TopicType&gt;</a>&amp; <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">PublisherHandler&lt;TopicType&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler&lt;TopicType&gt;</a>&amp; other) {</div>
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+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">this</span> == &amp;other) {</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordflow">if</span> (other.impl_) {</div>
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+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  }</div>
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+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
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+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
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+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#a08abb836db076c390101880ff34b8fe8">  186</a></span>&#160;<a class="code" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler&lt;TopicType&gt;::PublisherHandler</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html">PublisherHandler&lt;TopicType&gt;</a>&amp; other) {</div>
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+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    this-&gt;impl_ = other.impl_;</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
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+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">/* PublisherHandler(ros::NodeHandle&amp; nh, const std::string&amp; address, const unsigned int &amp;buffer_size, const bool &amp;latch) //{ */</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#a334376e25e8fb011ca27736cd2cf12b7">  198</a></span>&#160;<a class="code" href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">PublisherHandler&lt;TopicType&gt;::PublisherHandler</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; buffer_size, <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp; latch,</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                                              <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; rate) {</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  impl_ = std::make_shared&lt;PublisherHandler_impl&lt;TopicType&gt;&gt;(nh, address, buffer_size, latch, rate);</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">/* publish(const TopicType&amp; msg) //{ */</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">  209</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">PublisherHandler&lt;TopicType&gt;::publish</a>(<span class="keyword">const</span> TopicType&amp; msg) {</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  impl_-&gt;publish(msg);</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="comment">/* publish(const boost::shared_ptr&lt;TopicType&gt;&amp; msg) //{ */</span></div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#a3201fd4703f7e9cec24de7bc189356a5">  219</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">PublisherHandler&lt;TopicType&gt;::publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType&gt;&amp; msg) {</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  impl_-&gt;publish(msg);</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment">/* publish(const boost::shared_ptr&lt;TopicType const&gt;&amp; msg) //{ */</span></div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#ace9906a5cf9ae33115fc44af0e078f3f">  229</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">PublisherHandler&lt;TopicType&gt;::publish</a>(<span class="keyword">const</span> boost::shared_ptr&lt;TopicType const&gt;&amp; msg) {</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  impl_-&gt;publish(msg);</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;}</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="comment">/* getNumSubscribers(void) //{ */</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> TopicType&gt;</div>
+<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">  239</a></span>&#160;<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">PublisherHandler&lt;TopicType&gt;::getNumSubscribers</a>(<span class="keywordtype">void</span>) {</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">return</span> impl_-&gt;getNumSubscribers();</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="preprocessor">#endif  // PUBLISHER_HANDLER_HPP</span></div>
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+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_aefafd64bd0d8a9b9717c94b76368fd0d"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#aefafd64bd0d8a9b9717c94b76368fd0d">mrs_lib::PublisherHandler::PublisherHandler</a></div><div class="ttdeci">PublisherHandler(void)</div><div class="ttdoc">generic constructor</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:101</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_a0c5bebc2848b0547048edb1297833290"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#a0c5bebc2848b0547048edb1297833290">mrs_lib::PublisherHandler::publish</a></div><div class="ttdeci">void publish(const TopicType &amp;msg)</div><div class="ttdoc">publish message</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:209</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_a4404a3234f548fe9184ec43ac18c9671"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#a4404a3234f548fe9184ec43ac18c9671">mrs_lib::PublisherHandler_impl::publish</a></div><div class="ttdeci">void publish(const TopicType &amp;msg)</div><div class="ttdoc">publish message</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:54</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_a23a8578213fd78347ebaa259ee17c218"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#a23a8578213fd78347ebaa259ee17c218">mrs_lib::PublisherHandler::operator=</a></div><div class="ttdeci">PublisherHandler &amp; operator=(const PublisherHandler &amp;other)</div><div class="ttdoc">operator=</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:168</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_a2043d0a61e0ff0dbd0acd6a64f1e4bef"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#a2043d0a61e0ff0dbd0acd6a64f1e4bef">mrs_lib::PublisherHandler_impl::getNumSubscribers</a></div><div class="ttdeci">unsigned int getNumSubscribers(void)</div><div class="ttdoc">get number of subscribers</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:150</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html">mrs_lib::PublisherHandler</a></div><div class="ttdoc">user wrapper of the publisher handler implementation</div><div class="ttdef"><b>Definition:</b> publisher_handler.h:95</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler_html_acae5a82536022514c6a2cefa2f7980b1"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler.html#acae5a82536022514c6a2cefa2f7980b1">mrs_lib::PublisherHandler::getNumSubscribers</a></div><div class="ttdeci">unsigned int getNumSubscribers(void)</div><div class="ttdoc">get number of subscribers</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:239</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1PublisherHandler__impl_html_ab6dfde5a454ce357957a2ea8618890fc"><div class="ttname"><a href="classmrs__lib_1_1PublisherHandler__impl.html#ab6dfde5a454ce357957a2ea8618890fc">mrs_lib::PublisherHandler_impl::PublisherHandler_impl</a></div><div class="ttdeci">PublisherHandler_impl(void)</div><div class="ttdoc">default constructor</div><div class="ttdef"><b>Definition:</b> publisher_handler.hpp:14</div></div>
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+<div class="title">quadratic_throttle_model.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef QUADRATIC_THRUST_MODEL_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define QUADRATIC_THRUST_MODEL_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;{</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span>quadratic_throttle_model</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;{</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html">   12</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keywordtype">double</span> A;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keywordtype">double</span> B;</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keywordtype">int</span>    n_motors;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;} <a class="code" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html">MotorParams_t</a>;</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keywordtype">double</span> <span class="keyword">inline</span> throttleToForce(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html">MotorParams_t</a> motor_params, <span class="keyword">const</span> <span class="keywordtype">double</span> throttle) {</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <span class="keywordflow">return</span> motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;}</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keywordtype">double</span> <span class="keyword">inline</span> forceToThrottle(<span class="keyword">const</span> MotorParams_t motor_params, <span class="keyword">const</span> <span class="keywordtype">double</span> force) {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keywordflow">return</span> sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;}  <span class="comment">// namespace quadratic_throttle_model</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#endif  // QUADRATIC_THRUST_MODEL_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+<div class="title">repredictor/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> repredictor_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the Repredictor header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mrs_lib/repredictor.h&gt;</span></div>
+<div class="line"><span class="comment">// As a model, we&#39;ll use a LKF variant</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mrs_lib/lkf.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="mutex_8h.html">mrs_lib/mutex.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mrs_msgs/Float64Stamped.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Define the LKF we will be using</span></div>
+<div class="line"><span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_states = 2;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_inputs = 1;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_measurements = 1;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">using</span> lkf_t = varstepLKF&lt;n_states, n_inputs, n_measurements&gt;;</div>
+<div class="line">  <span class="keyword">using</span> rep_t = Repredictor&lt;lkf_t&gt;;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* helper aliases and definitions //{ */</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Some helpful aliases to make writing of types shorter</span></div>
+<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a>;</div>
+<div class="line"><span class="keyword">using</span> A_t = <a name="a0"></a><a class="code" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">lkf_t::A_t</a>;</div>
+<div class="line"><span class="keyword">using</span> B_t = <a name="a1"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">lkf_t::B_t</a>;</div>
+<div class="line"><span class="keyword">using</span> H_t = <a name="a2"></a><a class="code" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">lkf_t::H_t</a>;</div>
+<div class="line"><span class="keyword">using</span> Q_t = <a name="a3"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">lkf_t::Q_t</a>;</div>
+<div class="line"><span class="keyword">using</span> x_t = <a name="a4"></a><a class="code" href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">lkf_t::x_t</a>;</div>
+<div class="line"><span class="keyword">using</span> P_t = <a name="a5"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">lkf_t::P_t</a>;</div>
+<div class="line"><span class="keyword">using</span> u_t = <a name="a6"></a><a class="code" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">lkf_t::u_t</a>;</div>
+<div class="line"><span class="keyword">using</span> z_t = <a name="a7"></a><a class="code" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">lkf_t::z_t</a>;</div>
+<div class="line"><span class="keyword">using</span> R_t = <a name="a8"></a><a class="code" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">lkf_t::R_t</a>;</div>
+<div class="line"><span class="keyword">using</span> statecov_t = <a name="a9"></a><a class="code" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">lkf_t::statecov_t</a>;</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">static</span> std::random_device rd{};</div>
+<div class="line"><span class="keyword">static</span> std::mt19937 gen{rd()};</div>
+<div class="line"><span class="keyword">static</span> std::normal_distribution&lt;&gt; d{0,1};</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Helper function to generate a random Eigen matrix with normal distribution</span></div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keywordtype">int</span> rows&gt;</div>
+<div class="line">Eigen::Matrix&lt;double, rows, 1&gt; multivariate_gaussian(<span class="keyword">const</span> Eigen::Matrix&lt;double, rows, rows&gt;&amp; cov)</div>
+<div class="line">{</div>
+<div class="line">    Eigen::Matrix&lt;double, rows, 1&gt; ret;</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; rows; row++)</div>
+<div class="line">      ret(row, 0) = d(gen);</div>
+<div class="line">    <span class="keywordflow">return</span> cov*ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line">A_t generateA(<span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line">{</div>
+<div class="line">  A_t A;</div>
+<div class="line">  A &lt;&lt; 1, dt,</div>
+<div class="line">       0, 1;</div>
+<div class="line">  <span class="keywordflow">return</span> A;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line">B_t generateB([[maybe_unused]] <span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line">{</div>
+<div class="line">  B_t B;</div>
+<div class="line">  B &lt;&lt; dt*dt/2.0,</div>
+<div class="line">       dt;</div>
+<div class="line">  <span class="keywordflow">return</span> B;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">const</span> Q_t Q = 2.5*Q_t::Identity();</div>
+<div class="line"><span class="keyword">const</span> H_t H( (H_t() &lt;&lt; 1, 0).finished() );</div>
+<div class="line"><span class="keyword">const</span> R_t R_fast = 5.5*R_t::Identity();</div>
+<div class="line"><span class="keyword">const</span> R_t R_slow = 0.01*R_t::Identity();</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">const</span> x_t x0 = x_t::Zero();</div>
+<div class="line"><span class="keyword">const</span> P_t P0 = 5.0*P_t::Identity();</div>
+<div class="line"><span class="keyword">const</span> u_t u0 = u_t::Zero();</div>
+<div class="line"><span class="keyword">const</span> ros::Time t0 = ros::Time(0);</div>
+<div class="line"><span class="keyword">const</span> std::shared_ptr&lt;lkf_t&gt; lkf_ptr = std::make_shared&lt;lkf_t&gt;(generateA, generateB, H);</div>
+<div class="line"><span class="keyword">const</span> <span class="keywordtype">unsigned</span> buf_sz = 100;</div>
+<div class="line"> </div>
+<div class="line">std::mutex rep_pubs_mtx;</div>
+<div class="line"><a name="_a10"></a><a class="code" href="classmrs__lib_1_1Repredictor.html">rep_t</a> rep(x0, P0, u0, Q, t0, lkf_ptr, buf_sz);</div>
+<div class="line">ros::Publisher pub_pos_est;</div>
+<div class="line">ros::Publisher pub_vel_est;</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">enum</span> type_e</div>
+<div class="line">{</div>
+<div class="line">  input,</div>
+<div class="line">  meas_fast,</div>
+<div class="line">  meas_slow</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><span class="comment">// |                     THE IMPORTANT PART                     |</span></div>
+<div class="line"><span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><span class="keywordtype">void</span> process_msg(<span class="keyword">const</span> mrs_msgs::Float64Stamped::ConstPtr msg, type_e type)</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">// multithreading synchronization</span></div>
+<div class="line">  std::scoped_lock lck(rep_pubs_mtx);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// update the Repredictor with the latest message based on its type</span></div>
+<div class="line">  <span class="keywordflow">switch</span> (type)</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keywordflow">case</span> input: <span class="comment">// interpret msg as system input</span></div>
+<div class="line">      rep.<a name="a11"></a><a class="code" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a>(u_t(msg-&gt;value), Q, msg-&gt;header.stamp);</div>
+<div class="line">      <span class="keywordflow">break</span>;</div>
+<div class="line">    <span class="keywordflow">case</span> meas_fast: <span class="comment">// interpret msg as fast measurement (use the corresponding R)</span></div>
+<div class="line">      rep.<a name="a12"></a><a class="code" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">addMeasurement</a>(z_t(msg-&gt;value), R_fast, msg-&gt;header.stamp);</div>
+<div class="line">      <span class="keywordflow">break</span>;</div>
+<div class="line">    <span class="keywordflow">case</span> meas_slow: <span class="comment">// interpret msg as slow measurement (use the corresponding R)</span></div>
+<div class="line">      rep.<a class="code" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">addMeasurement</a>(z_t(msg-&gt;value), R_slow, msg-&gt;header.stamp);</div>
+<div class="line">      <span class="keywordflow">break</span>;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// publish the latest estimate</span></div>
+<div class="line">  mrs_msgs::Float64Stamped msg_out;</div>
+<div class="line">  msg_out.header.stamp = ros::Time::now();</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// estimate the current state using Repredictor</span></div>
+<div class="line">  <span class="keyword">const</span> x_t x_pred = rep.<a name="a13"></a><a class="code" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a>(msg_out.header.stamp).x;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// publish the position estimate</span></div>
+<div class="line">  msg_out.value = x_pred.x();</div>
+<div class="line">  pub_pos_est.publish(msg_out);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// publish the velocity estimate</span></div>
+<div class="line">  msg_out.value = x_pred.y();</div>
+<div class="line">  pub_vel_est.publish(msg_out);</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* callback splitting to process_msg() //{ */</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> callback_input(<span class="keyword">const</span> mrs_msgs::Float64Stamped::ConstPtr msg)</div>
+<div class="line">{</div>
+<div class="line">  process_msg(msg, input);</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> callback_meas_fast(<span class="keyword">const</span> mrs_msgs::Float64Stamped::ConstPtr msg)</div>
+<div class="line">{</div>
+<div class="line">  process_msg(msg, meas_fast);</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> callback_meas_slow(<span class="keyword">const</span> mrs_msgs::Float64Stamped::ConstPtr msg)</div>
+<div class="line">{</div>
+<div class="line">  process_msg(msg, meas_slow);</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// current state and its mutex</span></div>
+<div class="line">std::mutex x_mtx;</div>
+<div class="line">x_t x = x_t::Random();</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* publisher thread of fast, imprecise measurements //{ */</span></div>
+<div class="line"> </div>
+<div class="line">ros::Publisher pub_meas_fast;</div>
+<div class="line"><span class="keywordtype">void</span> meas_generator_fast()</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> R_t R = R_fast;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> delay_std = 0.1;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">while</span> (ros::ok())</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keyword">const</span> x_t x_gt = <a name="a14"></a><a class="code" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib::get_mutexed</a>(x_mtx, x);</div>
+<div class="line">    <span class="keyword">const</span> z_t z = H*x_gt + multivariate_gaussian(R);</div>
+<div class="line">    <span class="keyword">const</span> ros::Time stamp = ros::Time::now();</div>
+<div class="line">    <span class="keyword">const</span> <span class="keywordtype">double</span> delay = delay_std*std::abs(d(gen));</div>
+<div class="line">    ros::Duration(delay).sleep();</div>
+<div class="line">    mrs_msgs::Float64Stamped msg;</div>
+<div class="line">    msg.header.stamp = stamp;</div>
+<div class="line">    msg.value = z.x();</div>
+<div class="line">    pub_meas_fast.publish(msg);</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* publisher thread of slow, precise measurements //{ */</span></div>
+<div class="line"> </div>
+<div class="line">ros::Publisher pub_meas_slow;</div>
+<div class="line"><span class="keywordtype">void</span> meas_generator_slow()</div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> R_t R = R_slow;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> delay_std = 1.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">while</span> (ros::ok())</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keyword">const</span> x_t x_gt = <a class="code" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib::get_mutexed</a>(x_mtx, x);</div>
+<div class="line">    <span class="keyword">const</span> z_t z = H*x_gt + multivariate_gaussian(R);</div>
+<div class="line">    <span class="keyword">const</span> ros::Time stamp = ros::Time::now();</div>
+<div class="line">    <span class="keyword">const</span> <span class="keywordtype">double</span> delay = delay_std*std::abs(d(gen));</div>
+<div class="line">    ros::Duration(delay).sleep();</div>
+<div class="line">    mrs_msgs::Float64Stamped msg;</div>
+<div class="line">    msg.header.stamp = stamp;</div>
+<div class="line">    msg.value = z.x();</div>
+<div class="line">    pub_meas_slow.publish(msg);</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">/* Set up ROS. */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string node_name(<span class="stringliteral">&quot;repredictor_example&quot;</span>);</div>
+<div class="line">  ros::init(argc, argv, node_name);</div>
+<div class="line">  ros::NodeHandle nh;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// subscriber on the topic</span></div>
+<div class="line">  ros::Subscriber sub_inpt = nh.subscribe(<span class="stringliteral">&quot;velocity_inpt&quot;</span>, 10, callback_input);</div>
+<div class="line">  ros::Subscriber sub_meas_fast = nh.subscribe(<span class="stringliteral">&quot;position_meas_fast&quot;</span>, 10, callback_meas_fast);</div>
+<div class="line">  ros::Subscriber sub_meas_slow = nh.subscribe(<span class="stringliteral">&quot;position_meas_slow&quot;</span>, 10, callback_meas_slow);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// publishers for publishing generated measurements, ground truths and the estimate</span></div>
+<div class="line">  pub_pos_est = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;position_est&quot;</span>, 5);</div>
+<div class="line">  pub_vel_est = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;velocity_est&quot;</span>, 5);</div>
+<div class="line">  pub_meas_fast = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;position_meas_fast&quot;</span>, 5);</div>
+<div class="line">  pub_meas_slow = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;position_meas_slow&quot;</span>, 5);</div>
+<div class="line">  ros::Publisher pub_inpt_gt = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;velocity_inpt&quot;</span>, 5);</div>
+<div class="line">  ros::Publisher pub_pos_gt = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;position_gt&quot;</span>, 5);</div>
+<div class="line">  ros::Publisher pub_vel_gt = nh.advertise&lt;mrs_msgs::Float64Stamped&gt;(<span class="stringliteral">&quot;velocity_gt&quot;</span>, 5);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// threads for publishing </span></div>
+<div class="line">  std::thread th_fast(meas_generator_fast);</div>
+<div class="line">  th_fast.detach();</div>
+<div class="line">  std::thread th_slow(meas_generator_slow);</div>
+<div class="line">  th_slow.detach();</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// our system model, generating the currant state x</span></div>
+<div class="line">  ros::Duration dur(5e-2);</div>
+<div class="line">  <span class="keywordflow">while</span> (ros::ok())</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keyword">const</span> <span class="keywordtype">double</span> dt = dur.toSec();</div>
+<div class="line">    <span class="keyword">const</span> u_t u = 3.0*u_t::Random();</div>
+<div class="line">    <span class="keyword">const</span> Q_t dtQ = dt*Q;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// generate a new state</span></div>
+<div class="line">    <span class="keyword">const</span> x_t x_old = <a class="code" href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib::get_mutexed</a>(x_mtx, x);</div>
+<div class="line">    <span class="keyword">const</span> x_t x_new = generateA(dt)*x_old + generateB(dt)*u + multivariate_gaussian(dtQ);</div>
+<div class="line">    <a name="a15"></a><a class="code" href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">mrs_lib::set_mutexed</a>(x_mtx, x_new, x);</div>
+<div class="line"> </div>
+<div class="line">    mrs_msgs::Float64Stamped msg;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// publish the position ground-truth</span></div>
+<div class="line">    msg.header.stamp = ros::Time::now() - ros::Duration(dt);</div>
+<div class="line">    msg.value = u.x();</div>
+<div class="line">    pub_inpt_gt.publish(msg);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// publish the position ground-truth</span></div>
+<div class="line">    msg.header.stamp = ros::Time::now();</div>
+<div class="line">    msg.value = x.x();</div>
+<div class="line">    pub_pos_gt.publish(msg);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// publish the velocity ground-truth</span></div>
+<div class="line">    msg.header.stamp = ros::Time::now();</div>
+<div class="line">    msg.value = x.y();</div>
+<div class="line">    pub_vel_gt.publish(msg);</div>
+<div class="line"> </div>
+<div class="line">    ROS_INFO_THROTTLE(1.0, <span class="stringliteral">&quot;[%s]: Spinning&quot;</span>, ros::this_node::getName().c_str());</div>
+<div class="line">    ros::spinOnce();</div>
+<div class="line">    dur.sleep();</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="anamespacemrs__lib_html_aaf62529e79b5d131ea5c0fedee10b9ca"><div class="ttname"><a href="namespacemrs__lib.html#aaf62529e79b5d131ea5c0fedee10b9ca">mrs_lib::get_mutexed</a></div><div class="ttdeci">std::tuple&lt; Args... &gt; get_mutexed(std::mutex &amp;mut, Args &amp;... args)</div><div class="ttdoc">thread-safe getter for values of variables (args)</div><div class="ttdef"><b>Definition:</b> mutex.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5df2fd299b9da75a872e8d9194da1ca9"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">mrs_lib::LKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:52</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a78733a13f277480c5c8c42228d440df7"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">mrs_lib::LKF::H_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, n &gt; H_t</div><div class="ttdoc">State to measurement mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:57</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d5cee075e30da36ffb946cffcfca688"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">mrs_lib::LKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a018a96efcc5533e0e43b195cc23ee42e"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">mrs_lib::Repredictor::predictTo</a></div><div class="ttdeci">std::enable_if_t&lt;!check, statecov_t &gt; predictTo(const ros::Time &amp;to_stamp)</div><div class="ttdoc">Estimates the system state and covariance matrix at the specified time.</div><div class="ttdef"><b>Definition:</b> repredictor.h:67</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a54b2b4a3932510daad92da5a2b1274c1"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">mrs_lib::LKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> lkf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5d2cb5ed042b660f1a44bdb9f4d2612f"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">mrs_lib::LKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:51</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a5e1db8bec67cabd386b8924c5312f648"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">mrs_lib::Repredictor::addMeasurement</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addMeasurement(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</div><div class="ttdoc">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:296</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a5ca7805e401bd7b718b510269a6ce7bf"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">mrs_lib::LKF::B_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, m &gt; B_t</div><div class="ttdoc">Input to state mapping matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:56</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_abfad09fe2386fb87eaea7b4dd8b24409"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#abfad09fe2386fb87eaea7b4dd8b24409">mrs_lib::LKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:47</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a></div><div class="ttdoc">Implementation of the Repredictor for fusing measurements with variable delays.</div><div class="ttdef"><b>Definition:</b> repredictor.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_aa5c83985c5c7685ebe2af0e445fbc0ad"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">mrs_lib::LKF::A_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; A_t</div><div class="ttdoc">System transition matrix type .</div><div class="ttdef"><b>Definition:</b> lkf.h:55</div></div>
+<div class="ttc" id="amutex_8h_html"><div class="ttname"><a href="mutex_8h.html">mutex.h</a></div><div class="ttdoc">Defines helper routines for getting and setting variables under mutex locks.</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_afae3eb66a47b80bd8bae3b4a0c6a9368"><div class="ttname"><a href="namespacemrs__lib.html#afae3eb66a47b80bd8bae3b4a0c6a9368">mrs_lib::set_mutexed</a></div><div class="ttdeci">auto set_mutexed(std::mutex &amp;mut, const T what, T &amp;where)</div><div class="ttdoc">thread-safe setter for a variable</div><div class="ttdef"><b>Definition:</b> mutex.h:116</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_af4318056f5e0c024651bb882b60ec640"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">mrs_lib::LKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_ac85faca4dca9e6f785078eac6819f10f"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">mrs_lib::Repredictor::addInputChangeWithNoise</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addInputChangeWithNoise(const u_t &amp;u, const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:141</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1LKF_html_a98e130a3d14cd93b01b0b942de8af10c"><div class="ttname"><a href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">mrs_lib::LKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> lkf.h:48</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">example.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Example file for the Repredictor implementation.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;mrs_lib/repredictor.h&gt;</code><br />
+<code>#include &lt;mrs_lib/lkf.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="mutex_8h_source.html">mrs_lib/mutex.h</a>&gt;</code><br />
+<code>#include &lt;random&gt;</code><br />
+<code>#include &lt;fstream&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;thread&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;mrs_msgs/Float64Stamped.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for example.cpp:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::rep_t</b> = <a class="el" href="classmrs__lib_1_1Repredictor.html">Repredictor</a>&lt; <a class="el" href="classmrs__lib_1_1LKF.html">lkf_t</a> &gt;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>A_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#aa5c83985c5c7685ebe2af0e445fbc0ad">lkf_t::A_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>B_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a5ca7805e401bd7b718b510269a6ce7bf">lkf_t::B_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>H_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a78733a13f277480c5c8c42228d440df7">lkf_t::H_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Q_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a5df2fd299b9da75a872e8d9194da1ca9">lkf_t::Q_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>P_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a5d5cee075e30da36ffb946cffcfca688">lkf_t::P_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>u_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a98e130a3d14cd93b01b0b942de8af10c">lkf_t::u_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>z_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#af4318056f5e0c024651bb882b60ec640">lkf_t::z_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>R_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a5d2cb5ed042b660f1a44bdb9f4d2612f">lkf_t::R_t</a></td></tr>
+<tr class="separator:a0571298449e0cf2aee255bf7e06e7b86"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>statecov_t</b> = <a class="el" href="classmrs__lib_1_1LKF.html#a54b2b4a3932510daad92da5a2b1274c1">lkf_t::statecov_t</a></td></tr>
+<tr class="separator:adf612d30d3a77fa99ff157ce72be6383"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a39f6e5f83740a0914d53219949ecc69e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+const H_t&#160;</td><td class="memItemRight" valign="bottom"><b>H</b> ((H_t()&lt;&lt; 1, 0).finished())</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>process_msg</b> (const mrs_msgs::Float64Stamped::ConstPtr msg, type_e type)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>callback_input</b> (const mrs_msgs::Float64Stamped::ConstPtr msg)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>meas_generator_fast</b> ()</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>meas_generator_slow</b> ()</td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><b>main</b> (int argc, char **argv)</td></tr>
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+const unsigned&#160;</td><td class="memItemRight" valign="bottom"><b>buf_sz</b> = 100</td></tr>
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+<tr class="memitem:abd02e0d2de9881fe9c0b60ed36f679a5"><td class="memItemLeft" align="right" valign="top"><a id="abd02e0d2de9881fe9c0b60ed36f679a5"></a>
+std::mutex&#160;</td><td class="memItemRight" valign="bottom"><b>x_mtx</b></td></tr>
+<tr class="separator:abd02e0d2de9881fe9c0b60ed36f679a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+x_t&#160;</td><td class="memItemRight" valign="bottom"><b>x</b> = x_t::Random()</td></tr>
+<tr class="separator:a956fd740a35a42db892192588f528ea3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+ros::Publisher&#160;</td><td class="memItemRight" valign="bottom"><b>pub_meas_fast</b></td></tr>
+<tr class="separator:a9c6a7b667bce566f9b0d755433a8866f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+ros::Publisher&#160;</td><td class="memItemRight" valign="bottom"><b>pub_meas_slow</b></td></tr>
+<tr class="separator:aee6e5b5aaa37a9795d80edd9f5995fc8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the Repredictor implementation. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> repredictor_example</code>.</p>
+<p>See <a class="el" href="repredictor_2example_8cpp-example.html">repredictor/example.cpp</a>. </p>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+<div class="title">repredictor.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef REPREDICTOR_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define REPREDICTOR_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;boost/circular_buffer.hpp&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;std_msgs/Time.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="utils_8h.html">mrs_lib/utils.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> Model, <span class="keywordtype">bool</span> disable_reprediction=false&gt;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html">   39</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor</a></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  {</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">/* states, inputs etc. definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">   44</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a> = <span class="keyword">typename</span> Model::x_t;                  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">   45</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a> = <span class="keyword">typename</span> Model::u_t;                  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">   46</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a> = <span class="keyword">typename</span> Model::z_t;                  </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">   47</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a> = <span class="keyword">typename</span> Model::P_t;                  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">   48</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a> = <span class="keyword">typename</span> Model::R_t;                  </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">   49</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a> = <span class="keyword">typename</span> Model::Q_t;                  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">   50</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">statecov_t</a> = <span class="keyword">typename</span> Model::statecov_t;    </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">   51</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> = <span class="keyword">typename</span> std::shared_ptr&lt;Model&gt;; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">/* predictTo() method //{ */</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">   67</a></span>&#160;    std::enable_if_t&lt;!check, statecov_t&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a>(<span class="keyword">const</span> ros::Time&amp; to_stamp)</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      assert(!m_history.empty());</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">auto</span> hist_it = std::begin(m_history);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keywordflow">if</span> (hist_it-&gt;is_measurement)</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="comment">// if the first history point is measurement, don&#39;t use it for correction (to prevent it from being used twice)</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        hist_it-&gt;is_measurement = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      }</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="comment">// cur_stamp corresponds to the time point of cur_sc estimation</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">auto</span> cur_stamp = hist_it-&gt;stamp;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// cur_sc is the current state and covariance estimate</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">auto</span> cur_sc = m_sc;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">do</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        cur_sc.stamp = hist_it-&gt;stamp;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="comment">// do the correction if current history point is a measurement</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">if</span> ((hist_it-&gt;is_measurement))</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          cur_sc = correctFrom(cur_sc, *hist_it);</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="comment">// decide whether to predict to the next history point or straight to the desired stamp already</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="comment">// (whichever comes sooner or directly to the desired stamp if no further history point is available)</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        ros::Time next_stamp = to_stamp;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keywordflow">if</span> ((hist_it + 1) != std::end(m_history) &amp;&amp; (hist_it + 1)-&gt;stamp &lt;= to_stamp)</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          next_stamp = (hist_it + 1)-&gt;stamp;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// do the prediction</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        cur_stamp = next_stamp;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="comment">// increment the history pointer</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        hist_it++;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      } <span class="keywordflow">while</span> (hist_it != std::end(m_history) &amp;&amp; hist_it-&gt;stamp &lt;= to_stamp);</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      cur_sc.stamp = to_stamp;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordflow">return</span> cur_sc;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">  117</a></span>&#160;    std::enable_if_t&lt;check, statecov_t&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">predictTo</a>(<span class="keyword">const</span> ros::Time&amp; to_stamp)</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      assert(!m_history.empty());</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span>&amp; info = m_history.front();</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">auto</span> sc = predictFrom(m_sc, info, info.stamp, to_stamp);</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      sc.stamp = to_stamp;</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">return</span> sc;</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    }</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">/* addInputChangeWithNoise() method //{ */</span></div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">  141</a></span>&#160;    std::enable_if_t&lt;!check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a>&amp; Q, <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    {</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keyword">const</span> info_t info(stamp, u, Q, model);</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="comment">// find the next point in the history buffer</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> next_it = std::lower_bound(std::begin(m_history), std::end(m_history), info, &amp;<a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::earlier</a>);</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="comment">// add the point to the history buffer</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> added = addInfo(info, next_it);</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="comment">// update all measurements following the newly added system input up to the next system input</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordflow">if</span> (added != std::end(m_history))</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = added + 1; it != std::end(m_history) &amp;&amp; it-&gt;is_measurement; it++)</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          it-&gt;updateUsing(info);</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">  167</a></span>&#160;    std::enable_if_t&lt;check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">addInputChangeWithNoise</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a>&amp; Q, [[maybe_unused]] <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="keywordflow">if</span> (m_history.empty())</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        m_history.push_back({stamp});</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      m_history.front().u = u;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      m_history.front().Q = Q;</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      m_history.front().stamp = stamp;</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      m_history.front().predict_model = model;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    }</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">/* addInputChange() method //{ */</span></div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">  191</a></span>&#160;    std::enable_if_t&lt;!check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">addInputChange</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a>&amp; u, <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    {</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      assert(!m_history.empty());</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="comment">// find the next point in the history buffer</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> next_it = std::lower_bound(std::begin(m_history), std::end(m_history), stamp, &amp;<a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::earlier</a>);</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="comment">// get the previous history point (or the first one to avoid out of bounds)</span></div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> prev_it = next_it == std::begin(m_history) ? next_it : next_it - 1;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="comment">// initialize a new history info point</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">const</span> info_t info(stamp, u, prev_it-&gt;Q, model);</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="comment">// add the point to the history buffer</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> added = addInfo(info, next_it);</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="comment">// update all measurements following the newly added system input up to the next system input</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">if</span> (added != std::end(m_history))</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = added + 1; it != std::end(m_history) &amp;&amp; it-&gt;is_measurement; it++)</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          it-&gt;updateUsing(info);</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    }</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">  220</a></span>&#160;    std::enable_if_t&lt;check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">addInputChange</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a>&amp; u, [[maybe_unused]] <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    {</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">if</span> (m_history.empty())</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        m_history.push_back({stamp});</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      m_history.front().u = u;</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      m_history.front().stamp = stamp;</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      m_history.front().predict_model = model;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="comment">/* addProcessNoiseChange() method //{ */</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">  243</a></span>&#160;    std::enable_if_t&lt;!check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">addProcessNoiseChange</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a>&amp; Q, <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    {</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      assert(!m_history.empty());</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="comment">// find the next point in the history buffer</span></div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> next_it = std::lower_bound(std::begin(m_history), std::end(m_history), stamp, &amp;<a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::earlier</a>);</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="comment">// get the previous history point (or the first one to avoid out of bounds)</span></div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> prev_it = next_it == std::begin(m_history) ? next_it : next_it - 1;</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="comment">// initialize a new history info point</span></div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">const</span> info_t info(stamp, prev_it-&gt;u, Q, model);</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="comment">// add the point to the history buffer</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> added = addInfo(info, next_it);</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="comment">// update all measurements following the newly added system input up to the next system input</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keywordflow">if</span> (added != std::end(m_history))</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = added + 1; it != std::end(m_history) &amp;&amp; it-&gt;is_measurement; it++)</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          it-&gt;updateUsing(info);</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">  272</a></span>&#160;    std::enable_if_t&lt;check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">addProcessNoiseChange</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a>&amp; Q, [[maybe_unused]] <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    {</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keywordflow">if</span> (m_history.empty())</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        m_history.push_back({stamp});</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      m_history.front().Q = Q;</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      m_history.front().stamp = stamp;</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      m_history.front().predict_model = model;</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="comment">/* addMeasurement() method //{ */</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">  296</a></span>&#160;    std::enable_if_t&lt;!check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">addMeasurement</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a>&amp; R, <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; meas_id = -1)</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    {</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      assert(!m_history.empty());</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="comment">// helper variable for searching of the next point in the history buffer</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> next_it = std::lower_bound(std::begin(m_history), std::end(m_history), stamp, &amp;<a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::earlier</a>);</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="comment">// get the previous history point (or the first one to avoid out of bounds)</span></div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> prev_it = next_it == std::begin(m_history) ? next_it : next_it - 1;</div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="comment">// initialize a new history info point</span></div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keyword">const</span> info_t info(stamp, z, R, model, *prev_it, meas_id);</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="comment">// add the point to the history buffer</span></div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      addInfo(info, next_it);</div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    }</div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">template</span>&lt;<span class="keywordtype">bool</span> check=disable_reprediction&gt;</div>
+<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">  322</a></span>&#160;    std::enable_if_t&lt;check&gt; <a class="code" href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">addMeasurement</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">R_t</a>&amp; R, <span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model = <span class="keyword">nullptr</span>, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; meas_id = -1)</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    {</div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordflow">if</span> (m_history.empty())</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        m_history.push_back({stamp});</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keyword">auto</span>&amp; info = m_history.front();</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keyword">const</span> ros::Time to_stamp = stamp &gt; info.stamp ? stamp : info.stamp;</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> sc = <a class="code" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a>(to_stamp);</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      info.z = z;</div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      info.R = R;</div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      info.stamp = to_stamp;</div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      info.is_measurement = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      info.meas_id = meas_id;</div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      info.correct_model = model;</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      m_sc = correctFrom(sc, info);</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    }</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="comment">/* constructor //{ */</span></div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
+<div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">  355</a></span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">Repredictor</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a>&amp; x0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a>&amp; P0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">u_t</a>&amp; u0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a>&amp; Q0, <span class="keyword">const</span> ros::Time&amp; t0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> hist_len)</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        : m_sc{x0, P0}, m_default_model(model), m_history(history_t(hist_len))</div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    {</div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      assert(hist_len &gt; 0);</div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      <a class="code" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a>(u0, Q0, t0, model);</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    };</div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
+<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">  366</a></span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">Repredictor</a>(){};</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
+<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">  381</a></span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">Repredictor</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">x_t</a>&amp; x0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">P_t</a>&amp; P0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">Q_t</a>&amp; Q0, <span class="keyword">const</span> ros::Time&amp; t0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> hist_len)</div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        : m_sc{x0, P0}, m_default_model(model), m_history(history_t(hist_len))</div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    {</div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      assert(hist_len &gt; 0);</div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <span class="keyword">const</span> u_t u0{0};</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <a class="code" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">addInputChangeWithNoise</a>(u0, Q0, t0, model);</div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    };</div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="comment">// state and covariance corresponding to the oldest element in the history buffer</span></div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    statecov_t m_sc;</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="comment">// default model to use for updates</span></div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> m_default_model;</div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
+<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="comment">/* helper structs and usings //{ */</span></div>
+<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
+<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keyword">struct </span>info_t</div>
+<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    {</div>
+<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      ros::Time stamp;</div>
+<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
+<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <span class="comment">// system input-related information</span></div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      u_t u;</div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      Q_t Q;</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> predict_model;</div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="comment">// measurement-related information (unused in case is_measurement=false)</span></div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      z_t z;</div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      R_t R;</div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a> correct_model;</div>
+<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keywordtype">bool</span> is_measurement;</div>
+<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keywordtype">int</span> meas_id;</div>
+<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
+<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <span class="comment">// constructor for a dummy info (for searching in the history)</span></div>
+<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      info_t(<span class="keyword">const</span> ros::Time&amp; stamp) : stamp(stamp), is_measurement(false){};</div>
+<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
+<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <span class="comment">// constructor for a system input</span></div>
+<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      info_t(<span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> u_t&amp; u, <span class="keyword">const</span> Q_t&amp; Q, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model)</div>
+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          : stamp(stamp), u(u), Q(Q), predict_model(model), is_measurement(false){};</div>
+<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="comment">// constructor for a measurement</span></div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      info_t(<span class="keyword">const</span> ros::Time&amp; stamp, <span class="keyword">const</span> z_t&amp; z, <span class="keyword">const</span> R_t&amp; R, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">ModelPtr</a>&amp; model, <span class="keyword">const</span> info_t&amp; prev_info, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; meas_id)</div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          : stamp(stamp), z(z), R(R), correct_model(model), is_measurement(true), meas_id(meas_id)</div>
+<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      {</div>
+<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        updateUsing(prev_info);</div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      };</div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="comment">// copy system input-related information from a previous info</span></div>
+<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <span class="keywordtype">void</span> updateUsing(<span class="keyword">const</span> info_t&amp; info)</div>
+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      {</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        u = info.u;</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        Q = info.Q;</div>
+<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        predict_model = info.predict_model;</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      };</div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    };</div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
+<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keyword">using</span> history_t = boost::circular_buffer&lt;info_t&gt;;</div>
+<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="comment">// the history buffer</span></div>
+<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    history_t m_history;</div>
+<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
+<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    <span class="comment">// | ---------------- helper debugging methods ---------------- |</span></div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="comment">/* checkMonotonicity() method //{ */</span></div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <span class="keywordtype">bool</span> checkMonotonicity(<span class="keyword">const</span> T&amp; buf)</div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    {</div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keywordflow">if</span> (buf.empty())</div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = std::begin(buf) + 1; it != std::end(buf); it++)</div>
+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="keywordflow">if</span> (earlier(*it, *(it - 1)))</div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    }</div>
+<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="comment">/* printBuffer() method //{ */</span></div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="keywordtype">void</span> printBuffer(<span class="keyword">const</span> T&amp; buf)</div>
+<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    {</div>
+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keywordflow">if</span> (buf.empty())</div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> first_stamp = buf.front().stamp;</div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;first stamp: &quot;</span> &lt;&lt; first_stamp &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> it = 0; it &lt; buf.size(); it++)</div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      {</div>
+<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        std::cerr &lt;&lt; it &lt;&lt; <span class="stringliteral">&quot;:\t&quot;</span> &lt;&lt; buf.at(it).stamp - first_stamp &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      }</div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    }</div>
+<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
+<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="comment">// | -------------- helper implementation methods ------------- |</span></div>
+<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
+<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="comment">/* addInfo() method //{ */</span></div>
+<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <span class="keyword">typename</span> history_t::iterator addInfo(<span class="keyword">const</span> info_t&amp; info, <span class="keyword">const</span> <span class="keyword">typename</span> history_t::iterator&amp; next_it)</div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    {</div>
+<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="comment">// check if the new element would be added before the first element of the history buffer and ignore it if so</span></div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keywordflow">if</span> (next_it == std::begin(m_history) &amp;&amp; !m_history.empty())</div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      {</div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        ROS_WARN_STREAM_THROTTLE(1.0, <span class="stringliteral">&quot;[Repredictor]: Added history point is older than the oldest by &quot;</span></div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;                                          &lt;&lt; (next_it-&gt;stamp - info.stamp).toSec()</div>
+<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;                                          &lt;&lt; <span class="stringliteral">&quot;s. Ignoring it! Consider increasing the history buffer size (currently: &quot;</span> &lt;&lt; m_history.size() &lt;&lt; <span class="stringliteral">&quot;)&quot;</span>);</div>
+<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        <span class="keywordflow">return</span> std::end(m_history);</div>
+<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      }</div>
+<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
+<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      <span class="comment">// check if adding a new element would throw out the oldest one</span></div>
+<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      <span class="keywordflow">if</span> (m_history.size() == m_history.capacity())</div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;      {  <span class="comment">// if so, first update m_sc</span></div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        <span class="comment">// figure out, what will be the oldest element in the buffer after inserting the newly received one</span></div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        <span class="keyword">auto</span> new_oldest = m_history.front();</div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <span class="keywordflow">if</span> (m_history.size() == 1 || (m_history.size() &gt; 1 &amp;&amp; info.stamp &gt; m_history.at(0).stamp &amp;&amp; info.stamp &lt; m_history.at(1).stamp))</div>
+<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        {</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;          new_oldest = info;</div>
+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (m_history.size() &gt; 1)</div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        {</div>
+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;          new_oldest = m_history.at(1);</div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;        }</div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        <span class="comment">// update m_sc to the time of the new oldest element (after inserting the new element)</span></div>
+<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        m_sc = <a class="code" href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">predictTo</a>(new_oldest.stamp);</div>
+<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        <span class="comment">// insert the new element into the history buffer, causing the original oldest element to be removed</span></div>
+<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      }</div>
+<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
+<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      <span class="comment">// add the new point finally</span></div>
+<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> ret = m_history.insert(next_it, info);</div>
+<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      <span class="comment">/* debug check //{ */</span></div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="preprocessor">#ifdef REPREDICTOR_DEBUG</span></div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      <span class="keywordflow">if</span> (!checkMonotonicity(m_history))</div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      {</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;        std::cerr &lt;&lt; <span class="stringliteral">&quot;History buffer is not monotonous after modification!&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      }</div>
+<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;Added info (&quot;</span> &lt;&lt; m_history.size() &lt;&lt; <span class="stringliteral">&quot; total)&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
+<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    }</div>
+<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;    <span class="comment">/* earlier() method //{ */</span></div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">bool</span> earlier(<span class="keyword">const</span> info_t&amp; ob1, <span class="keyword">const</span> info_t&amp; ob2)</div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    {</div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      <span class="keywordflow">return</span> ob1.stamp &lt; ob2.stamp;</div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    }</div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
+<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    <span class="comment">/* predictFrom() method //{ */</span></div>
+<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    statecov_t predictFrom(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> info_t&amp; inpt, <span class="keyword">const</span> ros::Time&amp; from_stamp, <span class="keyword">const</span> ros::Time&amp; to_stamp)</div>
+<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    {</div>
+<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> model = inpt.predict_model == <span class="keyword">nullptr</span> ? m_default_model : inpt.predict_model;</div>
+<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> dt = (to_stamp - from_stamp).toSec();</div>
+<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      <span class="keywordflow">return</span> model-&gt;predict(sc, inpt.u, inpt.Q, dt);</div>
+<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    }</div>
+<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
+<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    <span class="comment">/* correctFrom() method //{ */</span></div>
+<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    statecov_t correctFrom(<span class="keyword">const</span> statecov_t&amp; sc, <span class="keyword">const</span> info_t&amp; meas)</div>
+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    {</div>
+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      assert(meas.is_measurement);</div>
+<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> model = meas.correct_model == <span class="keyword">nullptr</span> ? m_default_model : meas.correct_model;</div>
+<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keyword">auto</span> sc_tmp = sc;</div>
+<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      <span class="keywordflow">return</span> model-&gt;correct(sc_tmp, meas.z, meas.R);</div>
+<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    }</div>
+<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  };</div>
+<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
+<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160; </div>
+<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;<span class="preprocessor">#endif  // REPREDICTOR_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a0245871abc8208f13b4b33a7c2ece708"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a0245871abc8208f13b4b33a7c2ece708">mrs_lib::Repredictor::Repredictor</a></div><div class="ttdeci">Repredictor()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> repredictor.h:366</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_ad07b1f478d926355157c46d93cde1b4b"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#ad07b1f478d926355157c46d93cde1b4b">mrs_lib::Repredictor::addProcessNoiseChange</a></div><div class="ttdeci">std::enable_if_t&lt; check &gt; addProcessNoiseChange(const Q_t &amp;Q, [[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:272</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_aca5fb76c2e698ed1dd2c58e340adca58"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#aca5fb76c2e698ed1dd2c58e340adca58">mrs_lib::Repredictor&lt; Model &gt;::P_t</a></div><div class="ttdeci">typename Model::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> repredictor.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a6ffbce95c9194f159c203378845851d0"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a6ffbce95c9194f159c203378845851d0">mrs_lib::Repredictor::Repredictor</a></div><div class="ttdeci">Repredictor(const x_t &amp;x0, const P_t &amp;P0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len)</div><div class="ttdoc">Variation of the constructor for cases without a system input.</div><div class="ttdef"><b>Definition:</b> repredictor.h:381</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a018a96efcc5533e0e43b195cc23ee42e"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a018a96efcc5533e0e43b195cc23ee42e">mrs_lib::Repredictor::predictTo</a></div><div class="ttdeci">std::enable_if_t&lt;!check, statecov_t &gt; predictTo(const ros::Time &amp;to_stamp)</div><div class="ttdoc">Estimates the system state and covariance matrix at the specified time.</div><div class="ttdef"><b>Definition:</b> repredictor.h:67</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_aac7c07ba0237230fa7346932fb542ae9"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#aac7c07ba0237230fa7346932fb542ae9">mrs_lib::Repredictor&lt; Model &gt;::R_t</a></div><div class="ttdeci">typename Model::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> repredictor.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a2fa01fc3dbe7a557b80b6104466c8b7e"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a2fa01fc3dbe7a557b80b6104466c8b7e">mrs_lib::Repredictor::addInputChange</a></div><div class="ttdeci">std::enable_if_t&lt; check &gt; addInputChange(const u_t &amp;u, [[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:220</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a5e1db8bec67cabd386b8924c5312f648"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a5e1db8bec67cabd386b8924c5312f648">mrs_lib::Repredictor::addMeasurement</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addMeasurement(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</div><div class="ttdoc">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:296</div></div>
+<div class="ttc" id="autils_8h_html"><div class="ttname"><a href="utils_8h.html">utils.h</a></div><div class="ttdoc">Defines various general utility functions.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a794952d1627187223300848cd3e1bf66"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a794952d1627187223300848cd3e1bf66">mrs_lib::Repredictor&lt; Model &gt;::statecov_t</a></div><div class="ttdeci">typename Model::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> repredictor.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a0aed856752f139230db775620b4b97da"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a0aed856752f139230db775620b4b97da">mrs_lib::Repredictor::addMeasurement</a></div><div class="ttdeci">std::enable_if_t&lt; check &gt; addMeasurement(const z_t &amp;z, const R_t &amp;R, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr, const double &amp;meas_id=-1)</div><div class="ttdoc">Adds one measurement to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:322</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_af0b9dfd5f21b220e87c79298b061f63d"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#af0b9dfd5f21b220e87c79298b061f63d">mrs_lib::Repredictor&lt; Model &gt;::Q_t</a></div><div class="ttdeci">typename Model::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> repredictor.h:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_acb4a34d97aab3896de9565012a890381"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#acb4a34d97aab3896de9565012a890381">mrs_lib::Repredictor&lt; Model &gt;::ModelPtr</a></div><div class="ttdeci">typename std::shared_ptr&lt; Model &gt; ModelPtr</div><div class="ttdoc">Shorthand type for a shared pointer-to-Model.</div><div class="ttdef"><b>Definition:</b> repredictor.h:51</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a></div><div class="ttdoc">Implementation of the Repredictor for fusing measurements with variable delays.</div><div class="ttdef"><b>Definition:</b> repredictor.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a203a2fc80f2ab2d0caeb2b09e2c410a3"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a203a2fc80f2ab2d0caeb2b09e2c410a3">mrs_lib::Repredictor::addInputChangeWithNoise</a></div><div class="ttdeci">std::enable_if_t&lt; check &gt; addInputChangeWithNoise(const u_t &amp;u, const Q_t &amp;Q, [[maybe_unused]] const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:167</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a1a409036d5c94ee2115b2e31465fd2c7"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a1a409036d5c94ee2115b2e31465fd2c7">mrs_lib::Repredictor::addProcessNoiseChange</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addProcessNoiseChange(const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:243</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a4f12cadd7f0377eccb70b8d61e7ee8e3"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a4f12cadd7f0377eccb70b8d61e7ee8e3">mrs_lib::Repredictor&lt; Model &gt;::z_t</a></div><div class="ttdeci">typename Model::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> repredictor.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a4db1b1896eb17c54bc906d0e9da1eee9"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a4db1b1896eb17c54bc906d0e9da1eee9">mrs_lib::Repredictor::addInputChange</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addInputChange(const u_t &amp;u, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:191</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_ac9550981d03dc3c898dcbd39c4bc461f"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#ac9550981d03dc3c898dcbd39c4bc461f">mrs_lib::Repredictor&lt; Model &gt;::x_t</a></div><div class="ttdeci">typename Model::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> repredictor.h:44</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_ac85faca4dca9e6f785078eac6819f10f"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">mrs_lib::Repredictor::addInputChangeWithNoise</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addInputChangeWithNoise(const u_t &amp;u, const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:141</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_ac4bd7a77f3a9c73309108c35cad4936c"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#ac4bd7a77f3a9c73309108c35cad4936c">mrs_lib::Repredictor::predictTo</a></div><div class="ttdeci">std::enable_if_t&lt; check, statecov_t &gt; predictTo(const ros::Time &amp;to_stamp)</div><div class="ttdoc">Estimates the system state and covariance matrix at the specified time.</div><div class="ttdef"><b>Definition:</b> repredictor.h:117</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a035888099138efba982bda818c5fe390"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a035888099138efba982bda818c5fe390">mrs_lib::Repredictor::Repredictor</a></div><div class="ttdeci">Repredictor(const x_t &amp;x0, const P_t &amp;P0, const u_t &amp;u0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> repredictor.h:355</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_a19532d9b875ac33f80ffe313dfb26e6d"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#a19532d9b875ac33f80ffe313dfb26e6d">mrs_lib::Repredictor&lt; Model &gt;::u_t</a></div><div class="ttdeci">typename Model::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> repredictor.h:45</div></div>
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+<div class="title">repredictor_aloamgarm.h</div>  </div>
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+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef REPREDICTOR_ALOAMGARM_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define REPREDICTOR_ALOAMGARM_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;boost/circular_buffer.hpp&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;std_msgs/Time.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="utils_8h.html">mrs_lib/utils.h</a>&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/repredictor.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> Model&gt;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html">   39</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html">RepredictorAloamgarm</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor</a>&lt;Model&gt; {</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="comment">/* states, inputs etc. definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">   43</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">x_t</a>        = <span class="keyword">typename</span> Model::x_t;             </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">   44</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">u_t</a>        = <span class="keyword">typename</span> Model::u_t;             </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#a3e265f15f9b8b031af819d1d2045909b">   45</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a3e265f15f9b8b031af819d1d2045909b">z_t</a>        = <span class="keyword">typename</span> Model::z_t;             </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">   46</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">P_t</a>        = <span class="keyword">typename</span> Model::P_t;             </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44">   47</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44">R_t</a>        = <span class="keyword">typename</span> Model::R_t;             </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">   48</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">Q_t</a>        = <span class="keyword">typename</span> Model::Q_t;             </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7">   49</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7">statecov_t</a> = <span class="keyword">typename</span> Model::statecov_t;      </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">   50</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">ModelPtr</a>   = <span class="keyword">typename</span> std::shared_ptr&lt;Model&gt;; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">using</span> history_t  = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::history_t</a>;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="comment">/* constructor //{ */</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">   72</a></span>&#160;  <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">RepredictorAloamgarm</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">x_t</a>&amp; x0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">P_t</a>&amp; P0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">u_t</a>&amp; u0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">Q_t</a>&amp; Q0, <span class="keyword">const</span> ros::Time&amp; t0, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">ModelPtr</a>&amp; model, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> hist_len,</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                       <span class="keyword">const</span> std::shared_ptr&lt;boost::circular_buffer&lt;double&gt;&gt;&amp; nis_buffer) {</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::m_sc</a>            = {x0, P0, nis_buffer};</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::m_default_model</a> = model;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html">Repredictor&lt;Model&gt;::m_history</a>       = history_t(hist_len);</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    assert(hist_len &gt; 0);</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <a class="code" href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">Repredictor&lt;Model&gt;::addInputChangeWithNoise</a>(u0, Q0, t0, model);</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  };</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="preprocessor">#endif  // REPREDICTOR_ALOAMGARM_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_a3e265f15f9b8b031af819d1d2045909b"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#a3e265f15f9b8b031af819d1d2045909b">mrs_lib::RepredictorAloamgarm::z_t</a></div><div class="ttdeci">typename Model::z_t z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:45</div></div>
+<div class="ttc" id="autils_8h_html"><div class="ttname"><a href="utils_8h.html">utils.h</a></div><div class="ttdoc">Defines various general utility functions.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_a1f2bffb8cbea233b14036e016e8bb654"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#a1f2bffb8cbea233b14036e016e8bb654">mrs_lib::RepredictorAloamgarm::P_t</a></div><div class="ttdeci">typename Model::P_t P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_aa031cc536ee7a46c3e79287c65fc1fa7"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#aa031cc536ee7a46c3e79287c65fc1fa7">mrs_lib::RepredictorAloamgarm::Q_t</a></div><div class="ttdeci">typename Model::Q_t Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_a5c2992c6bde2dd8f3bdc7673fc3977da"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#a5c2992c6bde2dd8f3bdc7673fc3977da">mrs_lib::RepredictorAloamgarm::x_t</a></div><div class="ttdeci">typename Model::x_t x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:43</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_a7766d3dbccd04fcbe584cca6730153ca"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#a7766d3dbccd04fcbe584cca6730153ca">mrs_lib::RepredictorAloamgarm::ModelPtr</a></div><div class="ttdeci">typename std::shared_ptr&lt; Model &gt; ModelPtr</div><div class="ttdoc">Shorthand type for a shared pointer-to-Model.</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:50</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_acf7e98ab597eeeb4766b9794cf861f13"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#acf7e98ab597eeeb4766b9794cf861f13">mrs_lib::RepredictorAloamgarm::u_t</a></div><div class="ttdeci">typename Model::u_t u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:44</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_afa36b8b183f868a84dc182e4ac562d44"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#afa36b8b183f868a84dc182e4ac562d44">mrs_lib::RepredictorAloamgarm::R_t</a></div><div class="ttdeci">typename Model::R_t R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:47</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html">mrs_lib::Repredictor</a></div><div class="ttdoc">Implementation of the Repredictor for fusing measurements with variable delays.</div><div class="ttdef"><b>Definition:</b> repredictor.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_a4d5da8a5d296bf98bff6f99eaf550ae7"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#a4d5da8a5d296bf98bff6f99eaf550ae7">mrs_lib::RepredictorAloamgarm::statecov_t</a></div><div class="ttdeci">typename Model::statecov_t statecov_t</div><div class="ttdoc">Helper struct for passing around the state and its covariance in one variable.</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html_a1e1d3245d8f2fd98c9f80d4795061395"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html#a1e1d3245d8f2fd98c9f80d4795061395">mrs_lib::RepredictorAloamgarm::RepredictorAloamgarm</a></div><div class="ttdeci">RepredictorAloamgarm(const x_t &amp;x0, const P_t &amp;P0, const u_t &amp;u0, const Q_t &amp;Q0, const ros::Time &amp;t0, const ModelPtr &amp;model, const unsigned hist_len, const std::shared_ptr&lt; boost::circular_buffer&lt; double &gt;&gt; &amp;nis_buffer)</div><div class="ttdoc">Variation of the constructor for kalman filter using nis_buffer (ALOAMGARM)</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:72</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RepredictorAloamgarm_html"><div class="ttname"><a href="classmrs__lib_1_1RepredictorAloamgarm.html">mrs_lib::RepredictorAloamgarm</a></div><div class="ttdoc">Implementation of the RepredictorAloamgarm for fusing measurements with variable delays.</div><div class="ttdef"><b>Definition:</b> repredictor_aloamgarm.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Repredictor_html_ac85faca4dca9e6f785078eac6819f10f"><div class="ttname"><a href="classmrs__lib_1_1Repredictor.html#ac85faca4dca9e6f785078eac6819f10f">mrs_lib::Repredictor::addInputChangeWithNoise</a></div><div class="ttdeci">std::enable_if_t&lt;!check &gt; addInputChangeWithNoise(const u_t &amp;u, const Q_t &amp;Q, const ros::Time &amp;stamp, const ModelPtr &amp;model=nullptr)</div><div class="ttdoc">Adds one system input to the history buffer, removing the oldest element in the buffer if it is full.</div><div class="ttdef"><b>Definition:</b> repredictor.h:141</div></div>
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><b>repredictor_aloamgarm.h</b></li>
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+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
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+{
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+  var sidenav,navtree,content,header,collapsed,collapsedWidth=0,barWidth=6,desktop_vp=768,titleHeight;
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: rheiv/example.cpp</title>
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+  <div class="headertitle">
+<div class="title">rheiv/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> rheiv_example</code>.</p>
+<p>A plane surface model in the cartesian form <img class="formulaInl" alt="$ a x + b y + c z + d = 0 $" src="form_58.png"/> will be used in this example. The parameters <img class="formulaInl" alt="$ a $" src="form_59.png"/>, <img class="formulaInl" alt="$ b $" src="form_60.png"/>, <img class="formulaInl" alt="$ c $" src="form_61.png"/> and <img class="formulaInl" alt="$ d $" src="form_62.png"/> are elements of the parameter vector <img class="formulaInl" alt="$ \mathbf{ \theta } $" src="form_63.png"/>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the LKF header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="rheiv_8h.html">mrs_lib/rheiv.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Define the LKF we will be using</span></div>
+<div class="line"><span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_states = 3;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_params = 4;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">using</span> rheiv_t = RHEIV&lt;n_states, n_params&gt;;</div>
+<div class="line">  <span class="keyword">using</span> theta_t = <a name="a0"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">rheiv_t::theta_t</a>;</div>
+<div class="line">  <span class="keyword">using</span> xs_t = <a name="a1"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">rheiv_t::xs_t</a>;</div>
+<div class="line">  <span class="keyword">using</span> zs_t = <a name="a2"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">rheiv_t::zs_t</a>;</div>
+<div class="line">  <span class="keyword">using</span> P_t = <a name="a3"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">rheiv_t::P_t</a>;</div>
+<div class="line">  <span class="keyword">using</span> Ps_t = <a name="a4"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">rheiv_t::Ps_t</a>;</div>
+<div class="line">  <span class="keyword">using</span> f_z_t = <a name="a5"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">rheiv_t::f_z_t</a>;</div>
+<div class="line">  <span class="keyword">using</span> dzdx_t = <a name="a6"></a><a class="code" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">rheiv_t::dzdx_t</a>;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* For the plane surface model, there is no need to transform the data. */</span></div>
+<div class="line">mrs_lib::zs_t f_z(<span class="keyword">const</span> mrs_lib::xs_t&amp; xs)</div>
+<div class="line">{</div>
+<div class="line">  <span class="keywordflow">return</span> xs;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main()</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">/* For the plane surface model, the Jacobian is just an identitiy matrix. */</span></div>
+<div class="line">  <span class="keyword">const</span> mrs_lib::dzdx_t dzdx = mrs_lib::dzdx_t::Identity();</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_pts = 4;</div>
+<div class="line">  mrs_lib::xs_t xs(3, n_pts);</div>
+<div class="line">  xs &lt;&lt;</div>
+<div class="line">    0, 1, 0, 10,</div>
+<div class="line">    0, 0, 1, 0,</div>
+<div class="line">    0, 0, 0, 0.001;  <span class="comment">// if you change the last value to 0, the iterative optimization will fail because the matrices M and N will be degenerate</span></div>
+<div class="line">  <span class="keyword">const</span> mrs_lib::P_t P = mrs_lib::P_t::Identity();</div>
+<div class="line">  mrs_lib::Ps_t Ps;</div>
+<div class="line">  Ps.reserve(n_pts);</div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n_pts; it++)</div>
+<div class="line">    Ps.push_back(P);</div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;initializing object:&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  <a name="_a7"></a><a class="code" href="classmrs__lib_1_1RHEIV.html">mrs_lib::rheiv_t</a> rheiv(f_z, dzdx, 1e-15, 10, std::chrono::milliseconds(1), 1);</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;running fit&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">  mrs_lib::theta_t theta;</div>
+<div class="line">  <span class="keywordflow">try</span></div>
+<div class="line">  {</div>
+<div class="line">    theta = rheiv.fit(xs, Ps);</div>
+<div class="line">  } <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a name="_a8"></a><a class="code" href="structmrs__lib_1_1eigenvector__exception.html">mrs_lib::eigenvector_exception</a>&amp; ex)</div>
+<div class="line">  {</div>
+<div class="line">    std::cerr &lt;&lt; <span class="stringliteral">&quot;Iteration failed with message &#39;&quot;</span> &lt;&lt; ex.<a name="a9"></a><a class="code" href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">what</a>() &lt;&lt; <span class="stringliteral">&quot;&#39;.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;using last valid theta&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line">    theta = rheiv.get_last_estimate();</div>
+<div class="line">  }</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;finished:&quot;</span> &lt;&lt; std::endl &lt;&lt; theta &lt;&lt; std::endl;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_af6d8212b941ad45ce6b53bc4e8449de1"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">mrs_lib::RHEIV::theta_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, l, 1 &gt; theta_t</div><div class="ttdoc">Parameter vector type .</div><div class="ttdef"><b>Definition:</b> rheiv.h:85</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a></div><div class="ttdoc">Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .</div><div class="ttdef"><b>Definition:</b> rheiv.h:61</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="arheiv_8h_html"><div class="ttname"><a href="rheiv_8h.html">rheiv.h</a></div><div class="ttdoc">Defines RHEIV and related stuff for surface fitting to points with known covariances according to .</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_abfea65ce9c912fcde3e805a66dc8ca42"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">mrs_lib::RHEIV::f_z_t</a></div><div class="ttdeci">typename std::function&lt; zs_t(const xs_t &amp;)&gt; f_z_t</div><div class="ttdoc">Function signature of the  mapping function.</div><div class="ttdef"><b>Definition:</b> rheiv.h:79</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_aab24b461160051b3537f76e633d47d8d"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">mrs_lib::RHEIV::Ps_t</a></div><div class="ttdeci">std::vector&lt; P_t &gt; Ps_t</div><div class="ttdoc">Container type for covariances P of the input data array.</div><div class="ttdef"><b>Definition:</b> rheiv.h:75</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_aee3df85ac46e5b29259f8898388324ec"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">mrs_lib::RHEIV::xs_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, k, -1 &gt; xs_t</div><div class="ttdoc">Container type for the input data array.</div><div class="ttdef"><b>Definition:</b> rheiv.h:72</div></div>
+<div class="ttc" id="astructmrs__lib_1_1eigenvector__exception_html"><div class="ttname"><a href="structmrs__lib_1_1eigenvector__exception.html">mrs_lib::eigenvector_exception</a></div><div class="ttdoc">This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrice...</div><div class="ttdef"><b>Definition:</b> rheiv.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a3b4e40932aae907ae8185df7703d5677"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">mrs_lib::RHEIV::zs_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, lr, -1 &gt; zs_t</div><div class="ttdoc">Container type for an array of the reduced transformed input vectors z.</div><div class="ttdef"><b>Definition:</b> rheiv.h:78</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a9adfedc8dfbe38ccf06f556481a6c5c9"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">mrs_lib::RHEIV::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, k, k &gt; P_t</div><div class="ttdoc">Covariance type of the input vector .</div><div class="ttdef"><b>Definition:</b> rheiv.h:74</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_abec4cb102b681ff3ec39786dc1d2bd4b"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">mrs_lib::RHEIV::dzdx_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, lr, k &gt; dzdx_t</div><div class="ttdoc">Type of the jacobian matrix , evaluated at .</div><div class="ttdef"><b>Definition:</b> rheiv.h:81</div></div>
+<div class="ttc" id="astructmrs__lib_1_1eigenvector__exception_html_ab825ec32cb055c8c0b3b8b59125e90b5"><div class="ttname"><a href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">mrs_lib::eigenvector_exception::what</a></div><div class="ttdeci">virtual const char * what() const override</div><div class="ttdoc">Returns the error message, describing what caused the exception.</div><div class="ttdef"><b>Definition:</b> rheiv.h:31</div></div>
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+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">example.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Example file for the RHEIV implementation.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="rheiv_8h_source.html">mrs_lib/rheiv.h</a>&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
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+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for example.cpp:</div>
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+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
+Typedefs</h2></td></tr>
+<tr class="memitem:ace8d39fa64a12d6a40409a110b66ca6d"><td class="memItemLeft" align="right" valign="top"><a id="ace8d39fa64a12d6a40409a110b66ca6d"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::rheiv_t</b> = RHEIV&lt; n_states, n_params &gt;</td></tr>
+<tr class="separator:ace8d39fa64a12d6a40409a110b66ca6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::theta_t</b> = rheiv_t::theta_t</td></tr>
+<tr class="separator:acf21897841d7909efa4ec90cdd39b7fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aedf522c12d38b1cd713cd24ca392db63"><td class="memItemLeft" align="right" valign="top"><a id="aedf522c12d38b1cd713cd24ca392db63"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::xs_t</b> = rheiv_t::xs_t</td></tr>
+<tr class="separator:aedf522c12d38b1cd713cd24ca392db63"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a601d4688003dea73e427cbd62f557032"><td class="memItemLeft" align="right" valign="top"><a id="a601d4688003dea73e427cbd62f557032"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::zs_t</b> = rheiv_t::zs_t</td></tr>
+<tr class="separator:a601d4688003dea73e427cbd62f557032"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0770e4f020cae2e9ea332f603930b4b6"><td class="memItemLeft" align="right" valign="top"><a id="a0770e4f020cae2e9ea332f603930b4b6"></a>
+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::P_t</b> = rheiv_t::P_t</td></tr>
+<tr class="separator:a0770e4f020cae2e9ea332f603930b4b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::Ps_t</b> = rheiv_t::Ps_t</td></tr>
+<tr class="separator:a2dc8de6a6eec8b198afd92671e718a9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::f_z_t</b> = rheiv_t::f_z_t</td></tr>
+<tr class="separator:a99123d75b954055da17288a3f152d5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::dzdx_t</b> = rheiv_t::dzdx_t</td></tr>
+<tr class="separator:a8922b52f8f99215122ae7610ab60fe99"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
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+mrs_lib::zs_t&#160;</td><td class="memItemRight" valign="bottom"><b>f_z</b> (const mrs_lib::xs_t &amp;xs)</td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><b>main</b> ()</td></tr>
+<tr class="separator:ae66f6b31b5ad750f1fe042a706a4e3d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a509abd0a0bce319690b77d83cee06ea1"><td class="memItemLeft" align="right" valign="top"><a id="a509abd0a0bce319690b77d83cee06ea1"></a>
+const int&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::n_params</b> = 4</td></tr>
+<tr class="separator:a509abd0a0bce319690b77d83cee06ea1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the RHEIV implementation. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> rheiv_example</code>.</p>
+<p>A plane surface model in the cartesian form <img class="formulaInl" alt="$ a x + b y + c z + d = 0 $" src="form_58.png"/> will be used in this example. The parameters <img class="formulaInl" alt="$ a $" src="form_59.png"/>, <img class="formulaInl" alt="$ b $" src="form_60.png"/>, <img class="formulaInl" alt="$ c $" src="form_61.png"/> and <img class="formulaInl" alt="$ d $" src="form_62.png"/> are elements of the parameter vector <img class="formulaInl" alt="$ \mathbf{ \theta } $" src="form_63.png"/>.</p>
+<p>See <a class="el" href="rheiv_2example_8cpp-example.html">rheiv/example.cpp</a>. </p>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/rheiv_2example_8cpp.js b/rheiv_2example_8cpp.js
new file mode 100644
index 00000000..a0f12cd8
--- /dev/null
+++ b/rheiv_2example_8cpp.js
@@ -0,0 +1,14 @@
+var rheiv_2example_8cpp =
+[
+    [ "dzdx_t", "rheiv_2example_8cpp.html#a8922b52f8f99215122ae7610ab60fe99", null ],
+    [ "f_z_t", "rheiv_2example_8cpp.html#a99123d75b954055da17288a3f152d5fd", null ],
+    [ "P_t", "rheiv_2example_8cpp.html#a0770e4f020cae2e9ea332f603930b4b6", null ],
+    [ "Ps_t", "rheiv_2example_8cpp.html#a2dc8de6a6eec8b198afd92671e718a9d", null ],
+    [ "rheiv_t", "rheiv_2example_8cpp.html#ace8d39fa64a12d6a40409a110b66ca6d", null ],
+    [ "theta_t", "rheiv_2example_8cpp.html#acf21897841d7909efa4ec90cdd39b7fb", null ],
+    [ "xs_t", "rheiv_2example_8cpp.html#aedf522c12d38b1cd713cd24ca392db63", null ],
+    [ "zs_t", "rheiv_2example_8cpp.html#a601d4688003dea73e427cbd62f557032", null ],
+    [ "f_z", "rheiv_2example_8cpp.html#a4f53dcb724487fac3fcbe75a01cd0cf4", null ],
+    [ "main", "rheiv_2example_8cpp.html#ae66f6b31b5ad750f1fe042a706a4e3d4", null ],
+    [ "n_params", "rheiv_2example_8cpp.html#a509abd0a0bce319690b77d83cee06ea1", null ]
+];
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+<p>Defines RHEIV and related stuff for surface fitting to points with known covariances according to <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a>.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;iostream&gt;</code><br />
+<code>#include &lt;chrono&gt;</code><br />
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1eigenvector__exception.html">mrs_lib::eigenvector_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices.  <a href="structmrs__lib_1_1eigenvector__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV&lt; n_states, n_params &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm <a class="el" href="citelist.html#CITEREF_FNSandHEIV">[2]</a>.  <a href="classmrs__lib_1_1RHEIV.html#details">More...</a><br /></td></tr>
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+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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diff --git a/rheiv_8h__incl.map b/rheiv_8h__incl.map
new file mode 100644
index 00000000..0bc7e177
--- /dev/null
+++ b/rheiv_8h__incl.map
@@ -0,0 +1,6 @@
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diff --git a/rheiv_8h__incl.md5 b/rheiv_8h__incl.md5
new file mode 100644
index 00000000..f453c58c
--- /dev/null
+++ b/rheiv_8h__incl.md5
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license-end */
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+<div class="header">
+  <div class="headertitle">
+<div class="title">rheiv.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="rheiv_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef HEIV_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define HEIV_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="comment">/* eigenvector_exception //{ */</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  </div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1eigenvector__exception.html">   24</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1eigenvector__exception.html">eigenvector_exception</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    {</div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">   31</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">what</a>() <span class="keyword">const</span> throw()<span class="keyword"> override</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">      </span>{</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        <span class="keywordflow">return</span> <span class="stringliteral">&quot;Could not compute matrix eigenvectors.&quot;</span>;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      }</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    };</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="comment">/* class RHEIV //{ */</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_params&gt;</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html">   61</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1RHEIV.html">RHEIV</a></div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    static_assert(n_states &lt;= n_params, <span class="stringliteral">&quot;Sorry, n_states must be smaller or equal to n_params&quot;</span>);</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">/* RHEIV definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">   67</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a> = n_states;            </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">   68</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a> = n_params;            </div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">   69</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a> = <a class="code" href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">l</a> - 1;              </div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">   71</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">x_t</a> = Eigen::Matrix&lt;double, k, 1&gt;;                </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">   72</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> = Eigen::Matrix&lt;double, <a class="code" href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">k</a>, -1&gt;;              </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">   73</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">u_t</a> = Eigen::Matrix&lt;double, l, 1&gt;;                </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">   74</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">P_t</a> = Eigen::Matrix&lt;double, k, k&gt;;                </div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">   75</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> = std::vector&lt;P_t&gt;;                          </div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">   77</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">z_t</a> = Eigen::Matrix&lt;double, lr, 1&gt;;                       </div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">   78</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> = Eigen::Matrix&lt;double, <a class="code" href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">lr</a>, -1&gt;;                     </div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">   79</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a> = <span class="keyword">typename</span> std::function&lt;<a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a>&amp;)&gt;;        </div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">   81</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a> = Eigen::Matrix&lt;double, lr, k&gt;;                    </div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">   82</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a> = std::vector&lt;dzdx_t&gt;;                            </div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">   83</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> = <span class="keyword">typename</span> std::function&lt;<a class="code" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a>&amp;)&gt;;   </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">   85</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> = Eigen::Matrix&lt;double, l, 1&gt;;            </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">   86</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> = <a class="code" href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">z_t</a>;                                      </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">using</span> A_t = Eigen::Matrix&lt;double, lr, lr&gt;;          </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">using</span> B_t = A_t;                                    </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">using</span> Bs_t = std::vector&lt;B_t&gt;;                      </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">using</span> M_t = A_t;                                    </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">using</span> N_t = A_t;                                    </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">using</span> betas_t = Eigen::Matrix&lt;double, 1, -1&gt;;       </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">using</span> ms_t = std::chrono::milliseconds;</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="comment">/* constructor //{ */</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a057ffc158ceb64e933d3ae73e96bb033">  107</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#a057ffc158ceb64e933d3ae73e96bb033">RHEIV</a>()</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          :</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            m_initialized(false),</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            m_f_z(),</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            m_f_dzdx(),</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            m_min_dtheta(),</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            m_max_its(),</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            m_timeout(),</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            m_debug_nth_it(),</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            m_ALS_theta_set(false),</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            m_last_theta_set(false)</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        {};</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">  135</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">RHEIV</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a>&amp; f_z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a>&amp; f_dzdx, <span class="keyword">const</span> <span class="keywordtype">double</span> min_dtheta = 1e-15, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> max_its = 100)</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          : </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            m_initialized(true),</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            m_f_z(f_z),</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            m_f_dzdx(f_dzdx),</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;            m_min_dtheta(min_dtheta),</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;            m_max_its(max_its),</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            m_timeout(ms_t::zero()),</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            m_debug_nth_it(-1),</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            m_ALS_theta_set(false),</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            m_last_theta_set(false)</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        {};</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> time_t&gt;</div>
+<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a8c8f7b9c1b3ea4daafc08e1a29941558">  166</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#a8c8f7b9c1b3ea4daafc08e1a29941558">RHEIV</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a>&amp; f_z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a>&amp; f_dzdx, <span class="keyword">const</span> <span class="keywordtype">double</span> min_dtheta = 1e-15, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> max_its = 100, <span class="keyword">const</span> time_t&amp; timeout = std::chrono::duration_cast&lt;time_t&gt;(ms_t::zero()), <span class="keyword">const</span> <span class="keywordtype">int</span> debug_nth_it = -1)</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          : </div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            m_initialized(true),</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            m_f_z(f_z),</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            m_f_dzdx(f_dzdx),</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            m_min_dtheta(min_dtheta),</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            m_max_its(max_its),</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            m_timeout(std::chrono::duration_cast&lt;ms_t&gt;(timeout)),</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            m_debug_nth_it(debug_nth_it),</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            m_ALS_theta_set(false),</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            m_last_theta_set(false)</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        {}</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">  189</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">RHEIV</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a>&amp; f_z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a>&amp; dzdx, <span class="keyword">const</span> <span class="keywordtype">double</span> min_dtheta = 1e-15, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> max_its = 100)</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          : </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            m_initialized(true),</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            m_f_z(f_z),</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <span class="comment">// define a helper function which just returns the constant dzdx</span></div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            m_f_dzdx(</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                {</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                [dzdx](<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">x_t</a>&amp;)</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                  {</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                    <span class="keywordflow">return</span> dzdx;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                  }</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                }),</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            m_min_dtheta(min_dtheta),</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            m_max_its(max_its),</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            m_timeout(ms_t::zero()),</div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            m_debug_nth_it(-1),</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            m_ALS_theta_set(<span class="keyword">false</span>),</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            m_last_theta_set(<span class="keyword">false</span>)</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        {};</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> time_t&gt;</div>
+<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a9c0c437bea8612516cb37d9503b6a852">  223</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#a9c0c437bea8612516cb37d9503b6a852">RHEIV</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">f_z_t</a>&amp; f_z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a>&amp; dzdx, <span class="keyword">const</span> <span class="keywordtype">double</span> min_dtheta = 1e-15, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> max_its = 100, <span class="keyword">const</span> time_t&amp; timeout = std::chrono::duration_cast&lt;time_t&gt;(ms_t::zero()), <span class="keyword">const</span> <span class="keywordtype">int</span> debug_nth_it = -1)</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          : </div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            m_initialized(true),</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;            m_f_z(f_z),</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            <span class="comment">// define a helper function which just returns the constant dzdx</span></div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            m_f_dzdx(</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;                {</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                [dzdx](<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">x_t</a>&amp;)</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                  {</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                    <span class="keywordflow">return</span> dzdx;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                  }</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                }),</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            m_min_dtheta(min_dtheta),</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            m_max_its(max_its),</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            m_timeout(std::chrono::duration_cast&lt;ms_t&gt;(timeout)),</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;            m_debug_nth_it(debug_nth_it),</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            m_ALS_theta_set(<span class="keyword">false</span>),</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            m_last_theta_set(<span class="keyword">false</span>)</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        {}</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="comment">/* fit() method //{ */</span></div>
+<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">  258</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="code" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">fit</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a>&amp; xs, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a>&amp; Ps)</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        {</div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          assert(m_initialized);</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          assert((<span class="keywordtype">size_t</span>)xs.cols() == Ps.size());</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          <span class="keyword">const</span> std::chrono::system_clock::time_point fit_start = std::chrono::system_clock::now();</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      </div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> zs = m_f_z(xs);</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a> dzdxs = precalculate_dxdzs(xs, m_f_dzdx);</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      </div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          <span class="comment">// Find initial conditions through ALS</span></div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          m_ALS_theta = fit_ALS_impl(zs);</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          m_last_theta = m_ALS_theta;</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          m_ALS_theta_set = m_last_theta_set = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> eta = m_ALS_theta.template block&lt;lr, 1&gt;(0, 0);</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      </div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> it = 0; it &lt; m_max_its; it++)</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          {</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            <span class="keyword">const</span> std::chrono::system_clock::time_point now = std::chrono::system_clock::now();</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;            <span class="keyword">const</span> <span class="keyword">auto</span> fit_dur = now - fit_start;</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;            <span class="keywordflow">if</span> (m_timeout &gt; ms_t::zero() &amp;&amp; fit_dur &gt; m_timeout)</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;            {</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;              <span class="keywordflow">if</span> (m_debug_nth_it &gt; 0)</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                std::cerr &lt;&lt; <span class="stringliteral">&quot;[RHEIV]: Ending at iteration &quot;</span> &lt;&lt; it &lt;&lt; <span class="stringliteral">&quot; (max &quot;</span> &lt;&lt; m_max_its &lt;&lt; <span class="stringliteral">&quot;) - timed out.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;              <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;            }</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;            <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> prev_theta = m_last_theta;</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;            <span class="keyword">const</span> <span class="keyword">auto</span> [M, N, zc] = calc_MN(eta, zs, Ps, dzdxs);</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;            eta = calc_min_eigvec(M, N);</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            m_last_theta = calc_theta(eta, zc);</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">double</span> dtheta = calc_dtheta(prev_theta, m_last_theta);</div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;            <span class="keywordflow">if</span> (m_debug_nth_it &gt; 0 &amp;&amp; it % m_debug_nth_it == 0)</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;              std::cout &lt;&lt; <span class="stringliteral">&quot;[RHEIV]: iteration &quot;</span> &lt;&lt; it &lt;&lt; <span class="stringliteral">&quot; (max &quot;</span> &lt;&lt; m_max_its &lt;&lt; <span class="stringliteral">&quot;), dtheta: &quot;</span> &lt;&lt; dtheta &lt;&lt; <span class="stringliteral">&quot; (min &quot;</span> &lt;&lt; m_min_dtheta &lt;&lt; <span class="stringliteral">&quot;) &quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;            <span class="keywordflow">if</span> (dtheta &lt; m_min_dtheta)</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          }</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;          <span class="keywordflow">return</span> m_last_theta;</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        }</div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">class </span>T_it1,</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                  <span class="keyword">class </span>T_it2&gt;</div>
+<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">  314</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="code" href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">fit</a>(<span class="keyword">const</span> T_it1&amp; xs_begin, <span class="keyword">const</span> T_it1&amp; xs_end, <span class="keyword">const</span> T_it2&amp; Ps_begin, <span class="keyword">const</span> T_it2&amp; Ps_end)</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        {</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> xs = cont_to_eigen(xs_begin, xs_end);</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;          <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> Ps = cont_to_vector(Ps_begin, Ps_end);</div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> ret = <a class="code" href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">fit</a>(xs, Ps);</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;          <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        }</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="comment">/* fit_ALS() method //{ */</span></div>
+<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">  335</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="code" href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">fit_ALS</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a>&amp; xs)</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        {</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          assert(m_initialized);</div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      </div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> zs = m_f_z(xs);</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          m_ALS_theta = fit_ALS_impl(zs);</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          m_ALS_theta_set = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">return</span> m_ALS_theta;</div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        }</div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="comment">/* get_last_estimate() method //{ */</span></div>
+<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">  358</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="code" href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">get_last_estimate</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="keyword">        </span>{</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          assert(m_last_theta_set);</div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          <span class="keywordflow">return</span> m_last_theta;</div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        }</div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="comment">/* get_ALS_estimate() method //{ */</span></div>
+<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">  377</a></span>&#160;        <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> <a class="code" href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">get_ALS_estimate</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;<span class="keyword">        </span>{</div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          assert(m_ALS_theta_set);</div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          <span class="keywordflow">return</span> m_ALS_theta;</div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        }</div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="keywordtype">bool</span> m_initialized;</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    f_z_t m_f_z;</div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a> m_f_dzdx;</div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <span class="keywordtype">double</span> m_min_dtheta;</div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keywordtype">unsigned</span> m_max_its;</div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    ms_t m_timeout;</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="keywordtype">int</span> m_debug_nth_it;</div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keywordtype">bool</span> m_ALS_theta_set;</div>
+<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    theta_t m_ALS_theta;</div>
+<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordtype">bool</span> m_last_theta_set;</div>
+<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    theta_t m_last_theta;</div>
+<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
+<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="comment">/* calc_MN() method //{ */</span></div>
+<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    std::tuple&lt;M_t, N_t, z_t&gt; calc_MN(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a>&amp; eta, <span class="keyword">const</span> zs_t&amp; zs, <span class="keyword">const</span> Ps_t&amp; Ps, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a>&amp; dzdxs)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> n = zs.cols();</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    </div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keyword">const</span> Bs_t Bs = calc_Bs(Ps, dzdxs);</div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="keyword">const</span> betas_t betas = calc_betas(eta, Bs);</div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> [zrs, zc] = reduce_zs(zs, betas);</div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    </div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      M_t M = M_t::Zero();</div>
+<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      N_t N = N_t::Zero();</div>
+<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n; it++)</div>
+<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      {</div>
+<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> beta = betas(it);</div>
+<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;          <span class="keyword">const</span> z_t&amp; zr = zrs.col(it);</div>
+<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;          <span class="keyword">const</span> B_t&amp; B = Bs.at(it);</div>
+<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;          <span class="keyword">const</span> A_t A = calc_A(zr);</div>
+<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;          M += A*beta;</div>
+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          N += (eta.transpose()*A*eta)*B*(beta*beta);</div>
+<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      }</div>
+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="keywordflow">return</span> {M, N, zc};</div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    }</div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
+<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <span class="comment">/* calc_Bs() method //{ */</span></div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    Bs_t calc_Bs(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a>&amp; Ps, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a>&amp; dzdxs)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> n = Ps.size();</div>
+<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      Bs_t Bs;</div>
+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      Bs.reserve(n);</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n; it++)</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      {</div>
+<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        <span class="keyword">const</span> P_t&amp; P = Ps.at(it);</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">dzdx_t</a>&amp; dzdx = dzdxs.at(it);</div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keyword">const</span> B_t B = dzdx*P*dzdx.transpose();</div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        Bs.push_back(B);</div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;      }</div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="keywordflow">return</span> Bs;</div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    }</div>
+<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
+<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="comment">/* calc_betas() method //{ */</span></div>
+<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    betas_t calc_betas(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a>&amp; eta, <span class="keyword">const</span> Bs_t&amp; Bs)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> n = Bs.size();</div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      betas_t betas(n);</div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n; it++)</div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      {</div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          <span class="keyword">const</span> B_t&amp; B = Bs.at(it);</div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> beta = 1.0/(eta.transpose()*B*eta);</div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;          betas(it) = beta;</div>
+<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      }</div>
+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="keywordflow">return</span> betas;</div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    }</div>
+<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
+<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="comment">/* calc_A() method //{ */</span></div>
+<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    A_t calc_A(<span class="keyword">const</span> z_t&amp; z)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordflow">return</span> z*z.transpose();</div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    }</div>
+<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="comment">/* calc_dtheta() method //{ */</span></div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordtype">double</span> calc_dtheta(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&amp; th1, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>&amp; th2)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keywordflow">return</span> std::min( (th1 - th2).norm(), (th1 + th2).norm() );</div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    }</div>
+<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    <span class="comment">/* calc_theta() method //{ */</span></div>
+<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> calc_theta(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a>&amp; eta, <span class="keyword">const</span> z_t&amp; zc)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> alpha = -zc.transpose()*eta;</div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> theta( (<a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a>() &lt;&lt; eta, alpha).finished().normalized() );</div>
+<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;      <span class="keywordflow">return</span> theta;</div>
+<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    }</div>
+<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
+<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="comment">/* calc_min_eigvec() method //{ */</span></div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> calc_min_eigvec(<span class="keyword">const</span> M_t&amp; M, <span class="keyword">const</span> N_t&amp; N)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      <span class="keyword">const</span> Eigen::GeneralizedSelfAdjointEigenSolver&lt;M_t&gt; es(M, N);</div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      <span class="keywordflow">if</span> (es.info() != Eigen::Success)</div>
+<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        <span class="keywordflow">throw</span> eigenvector_exception();</div>
+<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      <span class="comment">// eigenvalues are sorted in increasing order when using the GeneralizedSelfAdjointEigenSolver as per Eigen documentation</span></div>
+<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> evec = es.eigenvectors().col(0).normalized(); <span class="comment">// altough the Eigen documentation states that this vector should already be normalized, it isn&#39;t!!</span></div>
+<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keywordflow">return</span> evec;</div>
+<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    }</div>
+<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
+<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="comment">/* calc_min_eigvec() method //{ */</span></div>
+<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> calc_min_eigvec(<span class="keyword">const</span> M_t&amp; M)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      <span class="keyword">const</span> Eigen::SelfAdjointEigenSolver&lt;M_t&gt; es(M);</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;      <span class="keywordflow">if</span> (es.info() != Eigen::Success)</div>
+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        <span class="keywordflow">throw</span> eigenvector_exception();</div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      <span class="comment">// eigenvalues are sorted in increasing order when using the SelfAdjointEigenSolver as per Eigen documentation</span></div>
+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> evec = es.eigenvectors().col(0).normalized(); <span class="comment">// altough the Eigen documentation states that this vector should already be normalized, it isn&#39;t!!</span></div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <span class="keywordflow">return</span> evec;</div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    }</div>
+<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
+<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    <span class="comment">/* precalculate_dxdzs() method //{ */</span></div>
+<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a> precalculate_dxdzs(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a>&amp; xs, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">f_dzdx_t</a>&amp; f_dzdx)</div>
+<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    {</div>
+<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> n = xs.cols();</div>
+<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      <a class="code" href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">dzdxs_t</a> ret;</div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      ret.reserve(n);</div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n; it++)</div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      {</div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <span class="keyword">const</span> x_t&amp; x = xs.col(it);</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;        ret.push_back(f_dzdx(x));</div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      }</div>
+<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    }</div>
+<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    <span class="comment">/* calc_centroid() method //{ */</span></div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    z_t calc_centroid(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>&amp; zs, <span class="keyword">const</span> betas_t&amp; betas)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keyword">const</span> z_t zc = (zs.array().rowwise() * betas.array()).rowwise().sum()/betas.sum();</div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keywordflow">return</span> zc;</div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    }</div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    <span class="comment">/* reduce_zs() method //{ */</span></div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    std::pair&lt;zs_t, z_t&gt; reduce_zs(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>&amp; zs, <span class="keyword">const</span> betas_t&amp; betas)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      <span class="keyword">const</span> z_t zc = calc_centroid(zs, betas);</div>
+<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> zrs = zs.colwise() - zc;</div>
+<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;      <span class="keywordflow">return</span> {zrs, zc};</div>
+<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    }</div>
+<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
+<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    <span class="comment">/* cont_to_eigen() method //{ */</span></div>
+<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T_it&gt;</div>
+<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> cont_to_eigen(<span class="keyword">const</span> T_it&amp; begin, <span class="keyword">const</span> T_it&amp; end)</div>
+<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    {</div>
+<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> n = end-begin;</div>
+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <a class="code" href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">xs_t</a> ret(n_states, n);</div>
+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <span class="keywordtype">size_t</span> i = 0;</div>
+<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keywordflow">for</span> (T_it it = begin; it != end; it++)</div>
+<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      {</div>
+<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        ret.template block&lt;n_states, 1&gt;(0, i) = *it;</div>
+<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        i++;</div>
+<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      }</div>
+<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    }</div>
+<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160; </div>
+<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;    <span class="comment">/* cont_to_vector() method //{ */</span></div>
+<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T_it&gt;</div>
+<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> cont_to_vector(<span class="keyword">const</span> T_it&amp; begin, <span class="keyword">const</span> T_it&amp; end)</div>
+<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    {</div>
+<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> n = end-begin;</div>
+<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      <a class="code" href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">Ps_t</a> ret(n);</div>
+<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      <span class="keywordtype">size_t</span> i = 0;</div>
+<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;      <span class="keywordflow">for</span> (T_it it = begin; it != end; it++)</div>
+<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;      {</div>
+<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;        ret.at(i) = *it;</div>
+<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        i++;</div>
+<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      }</div>
+<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    }</div>
+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
+<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
+<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;<span class="comment">// |           Algebraic Least Squares-related methods          |</span></div>
+<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
+<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    z_t calc_centroid(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>&amp; zs)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      <span class="keywordflow">return</span> zs.rowwise().mean();</div>
+<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    }</div>
+<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
+<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    std::pair&lt;zs_t, z_t&gt; reduce_zs(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>&amp; zs)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      <span class="keyword">const</span> z_t zc = calc_centroid(zs);</div>
+<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a> zrs = zs.colwise() - zc;</div>
+<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keywordflow">return</span> {zrs, zc};</div>
+<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    }</div>
+<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
+<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> fit_ALS_impl(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">zs_t</a>&amp; zs)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> [zrs, zc] = reduce_zs(zs);</div>
+<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      M_t M = M_t::Zero();</div>
+<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; zrs.cols(); it++)</div>
+<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      {</div>
+<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        <span class="keyword">const</span> z_t&amp; z = zrs.col(it);</div>
+<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;        <span class="keyword">const</span> A_t A = calc_A(z);</div>
+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;        M += A;</div>
+<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      }</div>
+<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">eta_t</a> eta = calc_min_eigvec(M);</div>
+<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">theta_t</a> theta = calc_theta(eta, zc);</div>
+<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;      <span class="keywordflow">return</span> theta;</div>
+<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    }</div>
+<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
+<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  };</div>
+<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  </div>
+<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;}</div>
+<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
+<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;<span class="preprocessor">#endif // HEIV_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_ad85f14fb415e2fbe69ad05db0dc56e7b"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#ad85f14fb415e2fbe69ad05db0dc56e7b">mrs_lib::RHEIV::dzdxs_t</a></div><div class="ttdeci">std::vector&lt; dzdx_t &gt; dzdxs_t</div><div class="ttdoc">Contained type for an array of the jacobian matrices.</div><div class="ttdef"><b>Definition:</b> rheiv.h:82</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_ac5b425f7782114173db5a275bea2c871"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#ac5b425f7782114173db5a275bea2c871">mrs_lib::RHEIV::f_dzdx_t</a></div><div class="ttdeci">typename std::function&lt; dzdx_t(const xs_t &amp;)&gt; f_dzdx_t</div><div class="ttdoc">Function signature of the jacobian .</div><div class="ttdef"><b>Definition:</b> rheiv.h:83</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a66a840487d929607a3385e90b3c35ec5"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a66a840487d929607a3385e90b3c35ec5">mrs_lib::RHEIV::RHEIV</a></div><div class="ttdeci">RHEIV(const f_z_t &amp;f_z, const dzdx_t &amp;dzdx, const double min_dtheta=1e-15, const unsigned max_its=100)</div><div class="ttdoc">A convenience constructor constructor.</div><div class="ttdef"><b>Definition:</b> rheiv.h:189</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_af6d8212b941ad45ce6b53bc4e8449de1"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#af6d8212b941ad45ce6b53bc4e8449de1">mrs_lib::RHEIV::theta_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, l, 1 &gt; theta_t</div><div class="ttdoc">Parameter vector type .</div><div class="ttdef"><b>Definition:</b> rheiv.h:85</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a9c0c437bea8612516cb37d9503b6a852"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a9c0c437bea8612516cb37d9503b6a852">mrs_lib::RHEIV::RHEIV</a></div><div class="ttdeci">RHEIV(const f_z_t &amp;f_z, const dzdx_t &amp;dzdx, const double min_dtheta=1e-15, const unsigned max_its=100, const time_t &amp;timeout=std::chrono::duration_cast&lt; time_t &gt;(ms_t::zero()), const int debug_nth_it=-1)</div><div class="ttdoc">A convenience constructor constructor.</div><div class="ttdef"><b>Definition:</b> rheiv.h:223</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_af267a00d1631e4685e5a1451f2510ac0"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#af267a00d1631e4685e5a1451f2510ac0">mrs_lib::RHEIV::lr</a></div><div class="ttdeci">static const int lr</div><div class="ttdoc">Length of the reduced parameter vector .</div><div class="ttdef"><b>Definition:</b> rheiv.h:69</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_ac7f24b984bcfdee4f21de1206942f986"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#ac7f24b984bcfdee4f21de1206942f986">mrs_lib::RHEIV::get_last_estimate</a></div><div class="ttdeci">theta_t get_last_estimate() const</div><div class="ttdoc">Returns the last valid estimate of .</div><div class="ttdef"><b>Definition:</b> rheiv.h:358</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a2123ee2ffa07063a8a50275b998874ca"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a2123ee2ffa07063a8a50275b998874ca">mrs_lib::RHEIV::fit_ALS</a></div><div class="ttdeci">theta_t fit_ALS(const xs_t &amp;xs)</div><div class="ttdoc">Fit the defined model to the provided data using Algebraic Least Squares (not RHEIV).</div><div class="ttdef"><b>Definition:</b> rheiv.h:335</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a3bc18fd815c8f09123b0a9083ca3b959"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a3bc18fd815c8f09123b0a9083ca3b959">mrs_lib::RHEIV::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, l, 1 &gt; u_t</div><div class="ttdoc">Transformed input vector type .</div><div class="ttdef"><b>Definition:</b> rheiv.h:73</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html">mrs_lib::RHEIV</a></div><div class="ttdoc">Implementation of the Reduced Heteroscedastic Errors In Variables surface fitting algorithm .</div><div class="ttdef"><b>Definition:</b> rheiv.h:61</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a057ffc158ceb64e933d3ae73e96bb033"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a057ffc158ceb64e933d3ae73e96bb033">mrs_lib::RHEIV::RHEIV</a></div><div class="ttdeci">RHEIV()</div><div class="ttdoc">Convenience default constructor.</div><div class="ttdef"><b>Definition:</b> rheiv.h:107</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_aad00da516e55bb60661b5cf234487932"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#aad00da516e55bb60661b5cf234487932">mrs_lib::RHEIV::fit</a></div><div class="ttdeci">theta_t fit(const xs_t &amp;xs, const Ps_t &amp;Ps)</div><div class="ttdoc">Fit the defined model to the provided data.</div><div class="ttdef"><b>Definition:</b> rheiv.h:258</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a9eaa3b7a946a9c590326d3b47295d728"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a9eaa3b7a946a9c590326d3b47295d728">mrs_lib::RHEIV::fit</a></div><div class="ttdeci">theta_t fit(const T_it1 &amp;xs_begin, const T_it1 &amp;xs_end, const T_it2 &amp;Ps_begin, const T_it2 &amp;Ps_end)</div><div class="ttdoc">Fit the defined model to the provided data.</div><div class="ttdef"><b>Definition:</b> rheiv.h:314</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a1495045a8f4fca1f045da6866f5e62b0"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a1495045a8f4fca1f045da6866f5e62b0">mrs_lib::RHEIV::l</a></div><div class="ttdeci">static const int l</div><div class="ttdoc">Length of the parameter vector .</div><div class="ttdef"><b>Definition:</b> rheiv.h:68</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a4712a3306cdd759a73d2124b23bb388b"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a4712a3306cdd759a73d2124b23bb388b">mrs_lib::RHEIV::RHEIV</a></div><div class="ttdeci">RHEIV(const f_z_t &amp;f_z, const f_dzdx_t &amp;f_dzdx, const double min_dtheta=1e-15, const unsigned max_its=100)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> rheiv.h:135</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a96de075c76bf79a411606d762e4b9728"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a96de075c76bf79a411606d762e4b9728">mrs_lib::RHEIV::get_ALS_estimate</a></div><div class="ttdeci">theta_t get_ALS_estimate() const</div><div class="ttdoc">Returns the Algebraic Least Squares estimate of .</div><div class="ttdef"><b>Definition:</b> rheiv.h:377</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a8d5b4a0df9a65eaf7127a6d93b38bf5e"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a8d5b4a0df9a65eaf7127a6d93b38bf5e">mrs_lib::RHEIV::k</a></div><div class="ttdeci">static const int k</div><div class="ttdoc">Length of the state vector x.</div><div class="ttdef"><b>Definition:</b> rheiv.h:67</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a6482f5ff13cbfaef9f8dc86912c1258d"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a6482f5ff13cbfaef9f8dc86912c1258d">mrs_lib::RHEIV::x_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, k, 1 &gt; x_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> rheiv.h:71</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a8c8f7b9c1b3ea4daafc08e1a29941558"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a8c8f7b9c1b3ea4daafc08e1a29941558">mrs_lib::RHEIV::RHEIV</a></div><div class="ttdeci">RHEIV(const f_z_t &amp;f_z, const f_dzdx_t &amp;f_dzdx, const double min_dtheta=1e-15, const unsigned max_its=100, const time_t &amp;timeout=std::chrono::duration_cast&lt; time_t &gt;(ms_t::zero()), const int debug_nth_it=-1)</div><div class="ttdoc">The main constructor.</div><div class="ttdef"><b>Definition:</b> rheiv.h:166</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a8e01ed1580572ec20f0230d9bfe5273f"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a8e01ed1580572ec20f0230d9bfe5273f">mrs_lib::RHEIV::z_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, lr, 1 &gt; z_t</div><div class="ttdoc">Type of a reduced transformed input vector .</div><div class="ttdef"><b>Definition:</b> rheiv.h:77</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_abfea65ce9c912fcde3e805a66dc8ca42"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#abfea65ce9c912fcde3e805a66dc8ca42">mrs_lib::RHEIV::f_z_t</a></div><div class="ttdeci">typename std::function&lt; zs_t(const xs_t &amp;)&gt; f_z_t</div><div class="ttdoc">Function signature of the  mapping function.</div><div class="ttdef"><b>Definition:</b> rheiv.h:79</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a238b7a1a44cb7711756bd7b94a11797d"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a238b7a1a44cb7711756bd7b94a11797d">mrs_lib::RHEIV::eta_t</a></div><div class="ttdeci">z_t eta_t</div><div class="ttdoc">Reduced parameter vector type .</div><div class="ttdef"><b>Definition:</b> rheiv.h:86</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_aab24b461160051b3537f76e633d47d8d"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#aab24b461160051b3537f76e633d47d8d">mrs_lib::RHEIV::Ps_t</a></div><div class="ttdeci">std::vector&lt; P_t &gt; Ps_t</div><div class="ttdoc">Container type for covariances P of the input data array.</div><div class="ttdef"><b>Definition:</b> rheiv.h:75</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_aee3df85ac46e5b29259f8898388324ec"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#aee3df85ac46e5b29259f8898388324ec">mrs_lib::RHEIV::xs_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, k, -1 &gt; xs_t</div><div class="ttdoc">Container type for the input data array.</div><div class="ttdef"><b>Definition:</b> rheiv.h:72</div></div>
+<div class="ttc" id="astructmrs__lib_1_1eigenvector__exception_html"><div class="ttname"><a href="structmrs__lib_1_1eigenvector__exception.html">mrs_lib::eigenvector_exception</a></div><div class="ttdoc">This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrice...</div><div class="ttdef"><b>Definition:</b> rheiv.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a3b4e40932aae907ae8185df7703d5677"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a3b4e40932aae907ae8185df7703d5677">mrs_lib::RHEIV::zs_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, lr, -1 &gt; zs_t</div><div class="ttdoc">Container type for an array of the reduced transformed input vectors z.</div><div class="ttdef"><b>Definition:</b> rheiv.h:78</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_a9adfedc8dfbe38ccf06f556481a6c5c9"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#a9adfedc8dfbe38ccf06f556481a6c5c9">mrs_lib::RHEIV::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, k, k &gt; P_t</div><div class="ttdoc">Covariance type of the input vector .</div><div class="ttdef"><b>Definition:</b> rheiv.h:74</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1RHEIV_html_abec4cb102b681ff3ec39786dc1d2bd4b"><div class="ttname"><a href="classmrs__lib_1_1RHEIV.html#abec4cb102b681ff3ec39786dc1d2bd4b">mrs_lib::RHEIV::dzdx_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, lr, k &gt; dzdx_t</div><div class="ttdoc">Type of the jacobian matrix , evaluated at .</div><div class="ttdef"><b>Definition:</b> rheiv.h:81</div></div>
+<div class="ttc" id="astructmrs__lib_1_1eigenvector__exception_html_ab825ec32cb055c8c0b3b8b59125e90b5"><div class="ttname"><a href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">mrs_lib::eigenvector_exception::what</a></div><div class="ttdeci">virtual const char * what() const override</div><div class="ttdoc">Returns the error message, describing what caused the exception.</div><div class="ttdef"><b>Definition:</b> rheiv.h:31</div></div>
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+<div class="title">safety_zone.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: TomasFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#ifndef MRS_LIB_SAFETYZONE_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#define MRS_LIB_SAFETYZONE_H</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/safety_zone/polygon.h&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/Marker.h&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Eigen&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SafetyZone.html">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1SafetyZone.html">SafetyZone</a> {</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="classmrs__lib_1_1SafetyZone.html">SafetyZone</a>(<a class="code" href="classmrs__lib_1_1Polygon.html">Polygon</a> outerBorder);</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  ~<a class="code" href="classmrs__lib_1_1SafetyZone.html">SafetyZone</a>();</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="classmrs__lib_1_1SafetyZone.html">SafetyZone</a>(<span class="keyword">const</span> Eigen::MatrixXd&amp; outerBorderMatrix);</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
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+<div class="title">scope_timer.h File Reference</div>  </div>
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+<p>Simple timer which times a duration of its scope, with additional optional checkpoints.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;chrono&gt;</code><br />
+<code>#include &lt;iostream&gt;</code><br />
+<code>#include &lt;fstream&gt;</code><br />
+<code>#include &lt;iomanip&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for scope_timer.h:</div>
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+</div>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple file logger of scope timer and its checkpoints.  <a href="classmrs__lib_1_1ScopeTimerLogger.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.  <a href="classmrs__lib_1_1ScopeTimer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Simple timer which times a duration of its scope, with additional optional checkpoints. </p>
+<dl class="section author"><dt>Author</dt><dd>Daniel Hert - <a href="#" onclick="location.href='mai'+'lto:'+'her'+'td'+'ani'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">hertd<span style="display: none;">.nosp@m.</span>ani@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">scope_timer.h</div>  </div>
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+<div class="contents">
+<a href="scope__timer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef SCOPE_TIMER_H</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define SCOPE_TIMER_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;iomanip&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">/* #include &lt;ctime&gt; */</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">/*//{ ScopeTimerLogger class */</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ScopeTimerLogger.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html">ScopeTimerLogger</a> {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c">ScopeTimerLogger</a>(<span class="keyword">const</span> std::string&amp; logfile, <span class="keyword">const</span> <span class="keywordtype">bool</span> enable_logging = <span class="keyword">true</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> log_precision = 10);</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#a0152ea8087d16a05027e66c44d99662e">~ScopeTimerLogger</a>();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">   40</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">shouldLog</a>() {</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">return</span> _should_log_;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">   48</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">loggingEnabled</a>() {</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">return</span> _logging_enabled_;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">   55</a></span>&#160;  std::string <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">getLogFilepath</a>() {</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span> _log_filepath_;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">using</span> chrono_tp = std::chrono::time_point&lt;std::chrono::steady_clock&gt;;</div>
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+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06">log</a>(<span class="keyword">const</span> std::string&amp; scope, <span class="keyword">const</span> chrono_tp&amp; time_start, <span class="keyword">const</span> chrono_tp&amp; time_end);</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06">log</a>(<span class="keyword">const</span> std::string&amp; scope, <span class="keyword">const</span> std::string&amp; label_from, <span class="keyword">const</span> std::string&amp; label_to, <span class="keyword">const</span> chrono_tp&amp; time_start, <span class="keyword">const</span> chrono_tp&amp; time_end);</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">bool</span>          _logging_enabled_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">bool</span>          _should_log_      = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  std::string   _log_filepath_;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  std::ofstream _logstream_;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  std::mutex    _mutex_logstream_;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;};</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">/*//}*/</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ScopeTimer.html">   84</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ScopeTimer.html">ScopeTimer</a> {</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">/* time_point() helper struct //{ */</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">   87</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">time_point</a></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">using</span> chrono_tp = std::chrono::time_point&lt;std::chrono::steady_clock&gt;;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <a class="code" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">time_point</a>(<span class="keyword">const</span> std::string&amp; label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">time_point</a>(<span class="keyword">const</span> std::string&amp; label, <span class="keyword">const</span> ros::Time&amp; ros_time) : ros_time(ros_time), label(label) {</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="comment">// helper types to make the code slightly more readable</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">using</span> float_seconds   = std::chrono::duration&lt;float&gt;;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">using</span> chrono_duration = std::chrono::steady_clock::duration;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// prepare ros and chrono current times to minimize their difference</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> ros_now    = ros::Time::now();</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> chrono_now = std::chrono::steady_clock::now();</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="comment">// calculate how old is ros_time</span></div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> ros_dt = ros_now - ros_time;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="comment">// cast ros_dt to chrono type</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> chrono_dt = std::chrono::duration_cast&lt;chrono_duration&gt;(float_seconds(ros_dt.toSec()));</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="comment">// calculate ros_time in chrono time and set it to chrono_time</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      chrono_time = chrono_now - chrono_dt;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    ros::Time   ros_time;</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    chrono_tp   chrono_time;</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    std::string label;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  };</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">ScopeTimer</a>(<span class="keyword">const</span> std::string&amp; label, <span class="keyword">const</span> ros::Duration&amp; throttle_period = ros::Duration(0), <span class="keyword">const</span> <span class="keywordtype">bool</span> enable = <span class="keyword">true</span>,</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;             <span class="keyword">const</span> std::shared_ptr&lt;ScopeTimerLogger&gt; scope_timer_logger = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <a class="code" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">ScopeTimer</a>(<span class="keyword">const</span> std::string&amp; label, <span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">time_point</a>&amp; tp0, <span class="keyword">const</span> ros::Duration&amp; throttle_period = ros::Duration(0), <span class="keyword">const</span> <span class="keywordtype">bool</span> enable = <span class="keyword">true</span>,</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;             <span class="keyword">const</span> std::shared_ptr&lt;ScopeTimerLogger&gt; scope_timer_logger = <span class="keyword">nullptr</span>);</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <a class="code" href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">ScopeTimer</a>(<span class="keyword">const</span> std::string&amp; label, <span class="keyword">const</span> std::shared_ptr&lt;ScopeTimerLogger&gt; scope_timer_logger, <span class="keyword">const</span> <span class="keywordtype">bool</span> enable = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938">checkpoint</a>(<span class="keyword">const</span> std::string&amp; label);</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">getLifetime</a>();</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <a class="code" href="classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102">~ScopeTimer</a>();</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  std::string             _timer_label_;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">bool</span>                    _enable_print_or_log;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  ros::Duration           _throttle_period_;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  std::vector&lt;time_point&gt; checkpoints;</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  std::shared_ptr&lt;ScopeTimerLogger&gt; _logger_ = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keyword">static</span> std::unordered_map&lt;std::string, ros::Time&gt; last_print_times;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;};</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html_a5369b8ec91eab0a06b87485bed5c130c"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html#a5369b8ec91eab0a06b87485bed5c130c">mrs_lib::ScopeTimerLogger::ScopeTimerLogger</a></div><div class="ttdeci">ScopeTimerLogger(const std::string &amp;logfile, const bool enable_logging=true, const int log_precision=10)</div><div class="ttdoc">The basic constructor with a user-defined path to the logger file, enable flag and float-logging prec...</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:9</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimer_html_abe8dc75be918b3a2ca7bbb043a022106"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimer.html#abe8dc75be918b3a2ca7bbb043a022106">mrs_lib::ScopeTimer::getLifetime</a></div><div class="ttdeci">float getLifetime()</div><div class="ttdoc">Getter for scope timer lifetime.</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:126</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html_addb114f39d72c3c3ee2ea8a4074cf455"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html#addb114f39d72c3c3ee2ea8a4074cf455">mrs_lib::ScopeTimerLogger::getLogFilepath</a></div><div class="ttdeci">std::string getLogFilepath()</div><div class="ttdoc">Returns the path to the log.</div><div class="ttdef"><b>Definition:</b> scope_timer.h:55</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimer_html"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimer.html">mrs_lib::ScopeTimer</a></div><div class="ttdoc">Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and s...</div><div class="ttdef"><b>Definition:</b> scope_timer.h:84</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimer_html_a243e048e46a8ef623b60c465dc7ee102"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimer.html#a243e048e46a8ef623b60c465dc7ee102">mrs_lib::ScopeTimer::~ScopeTimer</a></div><div class="ttdeci">~ScopeTimer()</div><div class="ttdoc">The basic destructor which prints out or logs the scope times, if enabled.</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:135</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html">mrs_lib::ScopeTimerLogger</a></div><div class="ttdoc">Simple file logger of scope timer and its checkpoints.</div><div class="ttdef"><b>Definition:</b> scope_timer.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimer_html_aebac3a7bad2d63f49d5777e08b504661"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimer.html#aebac3a7bad2d63f49d5777e08b504661">mrs_lib::ScopeTimer::ScopeTimer</a></div><div class="ttdeci">ScopeTimer(const std::string &amp;label, const ros::Duration &amp;throttle_period=ros::Duration(0), const bool enable=true, const std::shared_ptr&lt; ScopeTimerLogger &gt; scope_timer_logger=nullptr)</div><div class="ttdoc">The basic constructor with a user-defined label of the timer, throttled period and file logger.</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:84</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimer_html_acbb378343cba8f94ef228024d7a4b938"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimer.html#acbb378343cba8f94ef228024d7a4b938">mrs_lib::ScopeTimer::checkpoint</a></div><div class="ttdeci">void checkpoint(const std::string &amp;label)</div><div class="ttdoc">Checkpoint, prints the time passed until the point this function is called.</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:115</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html_a98f7fe29f151e4d0b88952530f40ef06"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html#a98f7fe29f151e4d0b88952530f40ef06">mrs_lib::ScopeTimerLogger::log</a></div><div class="ttdeci">void log(const std::string &amp;scope, const chrono_tp &amp;time_start, const chrono_tp &amp;time_end)</div><div class="ttdoc">Writes the time data of the given scope and empty checkpoints into the logger stream.</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:55</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html_a8bb5c6453336967529f118a717f20825"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html#a8bb5c6453336967529f118a717f20825">mrs_lib::ScopeTimerLogger::shouldLog</a></div><div class="ttdeci">bool shouldLog()</div><div class="ttdoc">Returns true if a non-empty path to a logger file was given by the user.</div><div class="ttdef"><b>Definition:</b> scope_timer.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html_a0152ea8087d16a05027e66c44d99662e"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html#a0152ea8087d16a05027e66c44d99662e">mrs_lib::ScopeTimerLogger::~ScopeTimerLogger</a></div><div class="ttdeci">~ScopeTimerLogger()</div><div class="ttdoc">The basic destructor which closes the logging file.</div><div class="ttdef"><b>Definition:</b> scope_timer.cpp:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ScopeTimerLogger_html_aaf51a60a214ab18976a354c328fc9d09"><div class="ttname"><a href="classmrs__lib_1_1ScopeTimerLogger.html#aaf51a60a214ab18976a354c328fc9d09">mrs_lib::ScopeTimerLogger::loggingEnabled</a></div><div class="ttdeci">bool loggingEnabled()</div><div class="ttdoc">Returns true if the enable flag was set to true, a non-empty path to a logger file was given by the u...</div><div class="ttdef"><b>Definition:</b> scope_timer.h:48</div></div>
+<div class="ttc" id="astructmrs__lib_1_1ScopeTimer_1_1time__point_html"><div class="ttname"><a href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></div><div class="ttdef"><b>Definition:</b> scope_timer.h:87</div></div>
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+++ b/search/pages_1.html
@@ -0,0 +1,30 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html><head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
+<script type="text/javascript" src="pages_1.js"></script>
+<script type="text/javascript" src="search.js"></script>
+</head>
+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript"><!--
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+createResults();
+/* @license-end */
+--></script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript"><!--
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+document.getElementById("Loading").style.display="none";
+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+/* @license-end */
+--></script>
+</div>
+</body>
+</html>
diff --git a/search/pages_1.js b/search/pages_1.js
new file mode 100644
index 00000000..c38436bd
--- /dev/null
+++ b/search/pages_1.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['mrs_20libraries_847',['MRS libraries',['../index.html',1,'']]]
+];
diff --git a/search/related_0.html b/search/related_0.html
new file mode 100644
index 00000000..bbe15faa
--- /dev/null
+++ b/search/related_0.html
@@ -0,0 +1,30 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html><head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
+<script type="text/javascript" src="related_0.js"></script>
+<script type="text/javascript" src="search.js"></script>
+</head>
+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript"><!--
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+createResults();
+/* @license-end */
+--></script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript"><!--
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+document.getElementById("Loading").style.display="none";
+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+/* @license-end */
+--></script>
+</div>
+</body>
+</html>
diff --git a/search/related_0.js b/search/related_0.js
new file mode 100644
index 00000000..166fe80d
--- /dev/null
+++ b/search/related_0.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['operator_2b_844',['operator+',['../structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7',1,'mrs_lib::geometry::cyclic']]],
+  ['operator_2d_845',['operator-',['../structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794',1,'mrs_lib::geometry::cyclic']]]
+];
diff --git a/search/search.css b/search/search.css
new file mode 100644
index 00000000..3cf9df94
--- /dev/null
+++ b/search/search.css
@@ -0,0 +1,271 @@
+/*---------------- Search Box */
+
+#FSearchBox {
+    float: left;
+}
+
+#MSearchBox {
+    white-space : nowrap;
+    float: none;
+    margin-top: 8px;
+    right: 0px;
+    width: 170px;
+    height: 24px;
+    z-index: 102;
+}
+
+#MSearchBox .left
+{
+    display:block;
+    position:absolute;
+    left:10px;
+    width:20px;
+    height:19px;
+    background:url('search_l.png') no-repeat;
+    background-position:right;
+}
+
+#MSearchSelect {
+    display:block;
+    position:absolute;
+    width:20px;
+    height:19px;
+}
+
+.left #MSearchSelect {
+    left:4px;
+}
+
+.right #MSearchSelect {
+    right:5px;
+}
+
+#MSearchField {
+    display:block;
+    position:absolute;
+    height:19px;
+    background:url('search_m.png') repeat-x;
+    border:none;
+    width:115px;
+    margin-left:20px;
+    padding-left:4px;
+    color: #909090;
+    outline: none;
+    font: 9pt Arial, Verdana, sans-serif;
+    -webkit-border-radius: 0px;
+}
+
+#FSearchBox #MSearchField {
+    margin-left:15px;
+}
+
+#MSearchBox .right {
+    display:block;
+    position:absolute;
+    right:10px;
+    top:8px;
+    width:20px;
+    height:19px;
+    background:url('search_r.png') no-repeat;
+    background-position:left;
+}
+
+#MSearchClose {
+    display: none;
+    position: absolute;
+    top: 4px;
+    background : none;
+    border: none;
+    margin: 0px 4px 0px 0px;
+    padding: 0px 0px;
+    outline: none;
+}
+
+.left #MSearchClose {
+    left: 6px;
+}
+
+.right #MSearchClose {
+    right: 2px;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: #000000;
+}
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    width: 60ex;
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #000;
+    background-color: #EEF1F7;
+    z-index:10000;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+}
+
+.SRResult {
+    display: none;
+}
+
+DIV.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/search/search.js b/search/search.js
new file mode 100644
index 00000000..a554ab9c
--- /dev/null
+++ b/search/search.js
@@ -0,0 +1,814 @@
+/*
+ @licstart  The following is the entire license notice for the
+ JavaScript code in this file.
+
+ Copyright (C) 1997-2017 by Dimitri van Heesch
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License along
+ with this program; if not, write to the Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+ @licend  The above is the entire license notice
+ for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else if (window.frames.MSearchResults.searchResults)
+      {
+        var elem = window.frames.MSearchResults.searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches.html';
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName == 'DIV' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName == 'DIV' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           parent.document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        }
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        parent.searchBox.CloseResultsWindow();
+        parent.document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
+
+function setKeyActions(elem,action)
+{
+  elem.setAttribute('onkeydown',action);
+  elem.setAttribute('onkeypress',action);
+  elem.setAttribute('onkeyup',action);
+}
+
+function setClassAttr(elem,attr)
+{
+  elem.setAttribute('class',attr);
+  elem.setAttribute('className',attr);
+}
+
+function createResults()
+{
+  var results = document.getElementById("SRResults");
+  for (var e=0; e<searchData.length; e++)
+  {
+    var id = searchData[e][0];
+    var srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    var srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    var srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+e);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = searchData[e][1][0];
+    srEntry.appendChild(srLink);
+    if (searchData[e][1].length==2) // single result
+    {
+      srLink.setAttribute('href',searchData[e][1][1][0]);
+      if (searchData[e][1][1][1])
+      {
+       srLink.setAttribute('target','_parent');
+      }
+      var srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = searchData[e][1][1][2];
+      srEntry.appendChild(srScope);
+    }
+    else // multiple results
+    {
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      var srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (var c=0; c<searchData[e][1].length-1; c++)
+      {
+        var srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+e+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',searchData[e][1][c+1][0]);
+        if (searchData[e][1][c+1][1])
+        {
+         srChild.setAttribute('target','_parent');
+        }
+        srChild.innerHTML = searchData[e][1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  }
+}
+
+function init_search()
+{
+  var results = document.getElementById("MSearchSelectWindow");
+  for (var key in indexSectionLabels)
+  {
+    var link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+  searchBox.OnSelectItem(0);
+}
+/* @license-end */
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diff --git a/search/searchdata.js b/search/searchdata.js
new file mode 100644
index 00000000..4d14379e
--- /dev/null
+++ b/search/searchdata.js
@@ -0,0 +1,39 @@
+var indexSectionsWithContent =
+{
+  0: "abcdefghijklmnopqrstuvwxyz~",
+  1: "abcdegijklmnoprstuvw",
+  2: "m",
+  3: "abcdegikmnprstuv",
+  4: "abcdefghijlmnopqrstuvwy~",
+  5: "abhklmnpqrstwx",
+  6: "abcdefhikmopqrstuwxz",
+  7: "o",
+  8: "bm"
+};
+
+var indexSectionNames =
+{
+  0: "all",
+  1: "classes",
+  2: "namespaces",
+  3: "files",
+  4: "functions",
+  5: "variables",
+  6: "typedefs",
+  7: "related",
+  8: "pages"
+};
+
+var indexSectionLabels =
+{
+  0: "All",
+  1: "Classes",
+  2: "Namespaces",
+  3: "Files",
+  4: "Functions",
+  5: "Variables",
+  6: "Typedefs",
+  7: "Friends",
+  8: "Pages"
+};
+
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new file mode 100644
index 00000000..376db479
--- /dev/null
+++ b/search/typedefs_0.html
@@ -0,0 +1,30 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html><head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
+<script type="text/javascript" src="typedefs_0.js"></script>
+<script type="text/javascript" src="search.js"></script>
+</head>
+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript"><!--
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+createResults();
+/* @license-end */
+--></script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript"><!--
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+document.getElementById("Loading").style.display="none";
+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+/* @license-end */
+--></script>
+</div>
+</body>
+</html>
diff --git a/search/typedefs_0.js b/search/typedefs_0.js
new file mode 100644
index 00000000..43240dbd
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+++ b/search/typedefs_0.js
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+var searchData=
+[
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+/* @license-end */
+--></script>
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+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+/* @license-end */
+--></script>
+</div>
+</body>
+</html>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle">
+<div class="title">service_client_handler.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines ServiceClientHandler and related convenience classes for upgrading the ROS service client.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;ros/package.h&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;future&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;mrs_lib/impl/service_client_handler.hpp&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for service_client_handler.h:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">implementation of the service client handler  <a href="classmrs__lib_1_1ServiceClientHandler__impl.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler&lt; ServiceType &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">user wrapper of the service client handler implementation  <a href="classmrs__lib_1_1ServiceClientHandler.html#details">More...</a><br /></td></tr>
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+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines ServiceClientHandler and related convenience classes for upgrading the ROS service client. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomas Baca - <a href="#" onclick="location.href='mai'+'lto:'+'tom'+'as'+'.ba'+'ca'+'@fe'+'l.'+'cvu'+'t.'+'cz'; return false;">tomas<span style="display: none;">.nosp@m.</span>.bac<span style="display: none;">.nosp@m.</span>a@fel<span style="display: none;">.nosp@m.</span>.cvu<span style="display: none;">.nosp@m.</span>t.cz</a> </dd></dl>
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+<div class="title">service_client_handler.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="service__client__handler_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef SERVICE_CLIENT_HANDLER_H</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define SERVICE_CLIENT_HANDLER_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;ros/package.h&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;future&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/* class ServiceClientHandler_impl //{ */</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html">ServiceClientHandler_impl</a> {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">ServiceClientHandler_impl</a>(<span class="keywordtype">void</span>);</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1">   35</a></span>&#160;  <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a2d906a4c237db032edfb7578d0eb2be1">~ServiceClientHandler_impl</a>(<span class="keywordtype">void</span>){};</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">ServiceClientHandler_impl</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">call</a>(ServiceType&amp; srv);</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">call</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts);</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">call</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; repeat_delay);</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">callAsync</a>(ServiceType&amp; srv);</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">callAsync</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts);</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">callAsync</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; repeat_delay);</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  ros::ServiceClient service_client_;</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::mutex         mutex_service_client_;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  std::atomic&lt;bool&gt;  service_initialized_;</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::string _address_;</div>
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+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="preprocessor">#endif  // SERVICE_CLIENT_HANDLER_H</span></div>
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+<div class="ttc" id="aclassmrs__lib_1_1ServiceClientHandler__impl_html"><div class="ttname"><a href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a></div><div class="ttdoc">implementation of the service client handler</div><div class="ttdef"><b>Definition:</b> service_client_handler.h:24</div></div>
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+<div class="title">service_client_handler.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef SERVICE_CLIENT_HANDLER_HPP</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define SERVICE_CLIENT_HANDLER_HPP</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;{</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// |                  ServiceClientHandler_impl                 |</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">/* ServiceClientHandler_impl(void) //{ */</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">   14</a></span>&#160;<a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">ServiceClientHandler_impl&lt;ServiceType&gt;::ServiceClientHandler_impl</a>(<span class="keywordtype">void</span>) : service_initialized_(false) {</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;}</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">/* ServiceClientHandler_impl(ros::NodeHandle&amp; nh, const std::string&amp; address) //{ */</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a4ae10aba33d5d46013bf25a61c005ac0">   22</a></span>&#160;<a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae1f6eb48630bf4d3eb9e92b95c6269c8">ServiceClientHandler_impl&lt;ServiceType&gt;::ServiceClientHandler_impl</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address) {</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    std::scoped_lock lock(mutex_service_client_);</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    service_client_ = nh.serviceClient&lt;ServiceType&gt;(address);</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  }</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  _address_       = address;</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  async_attempts_ = 1;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">/* thread_oneshot_ = std::make_shared&lt;std::thread&gt;(std::thread(&amp;ServiceClientHandler_impl::threadOneshot, this, true, false)); */</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  service_initialized_ = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">/* call(ServiceType&amp; srv) //{ */</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">   43</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">ServiceClientHandler_impl&lt;ServiceType&gt;::call</a>(ServiceType&amp; srv) {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordflow">if</span> (!service_initialized_) {</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  }</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">return</span> service_client_.call(srv);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">/* call(ServiceType&amp; srv, const int&amp; attempts) //{ */</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a35cc1c54991d1eb2801e2dfd205e1ef0">   57</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">ServiceClientHandler_impl&lt;ServiceType&gt;::call</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts) {</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">if</span> (!service_initialized_) {</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  std::scoped_lock lock(mutex_service_client_);</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">int</span>  counter = 0;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">while</span> (!success &amp;&amp; ros::ok()) {</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    success = service_client_.call(srv);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">if</span> (!success) {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      ROS_ERROR(<span class="stringliteral">&quot;[%s]: failed to call service to &#39;%s&#39;&quot;</span>, ros::this_node::getName().c_str(), _address_.c_str());</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span> (++counter &gt;= attempts) {</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    }</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">/* call(ServiceType&amp; srv, const int&amp; attempts, const double&amp; repeat_delay) //{ */</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#aecd6585588ea75d444577651591fb847">   89</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a50394dc3190eafbce4c58b20823942d6">ServiceClientHandler_impl&lt;ServiceType&gt;::call</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; repeat_delay) {</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (!service_initialized_) {</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  std::scoped_lock lock(mutex_service_client_);</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">int</span>  counter = 0;</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">while</span> (!success &amp;&amp; ros::ok()) {</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    success = service_client_.call(srv);</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">if</span> (!success) {</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      ROS_ERROR(<span class="stringliteral">&quot;[%s]: failed to call service to &#39;%s&#39;&quot;</span>, ros::this_node::getName().c_str(), _address_.c_str());</div>
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+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">if</span> (++counter &gt;= attempts) {</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    ros::Duration(repeat_delay).sleep();</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  }</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">return</span> success;</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">/* callAsync(ServiceType&amp; srv) //{ */</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">  123</a></span>&#160;std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">ServiceClientHandler_impl&lt;ServiceType&gt;::callAsync</a>(ServiceType&amp; srv) {</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    std::scoped_lock lock(mutex_async_);</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    async_data_         = srv;</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    async_attempts_     = 1;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    async_repeat_delay_ = 0;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">return</span> std::async(std::launch::async, &amp;ServiceClientHandler_impl::asyncRun, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">/* callAsync(ServiceType&amp; srv, const int&amp; attempts) //{ */</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#acbc6113b775545e89e7fa4fd41cf15ed">  141</a></span>&#160;std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">ServiceClientHandler_impl&lt;ServiceType&gt;::callAsync</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts) {</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
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+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    async_data_         = srv;</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    async_attempts_     = attempts;</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    async_repeat_delay_ = 0;</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  }</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordflow">return</span> std::async(std::launch::async, &amp;ServiceClientHandler_impl::asyncRun, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">/* callAsync(ServiceType&amp; srv, const int&amp; attempts, const double &amp;repeat_delay) //{ */</span></div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler__impl.html#ae15fc00b04219ae241e03c0973a00c5a">  159</a></span>&#160;std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html#a39ed1a2c10f97d75447224bd9cb9e968">ServiceClientHandler_impl&lt;ServiceType&gt;::callAsync</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; repeat_delay) {</div>
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+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  {</div>
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+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
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+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    async_attempts_     = attempts;</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    async_repeat_delay_ = repeat_delay;</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  }</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keywordflow">return</span> std::async(std::launch::async, &amp;ServiceClientHandler_impl::asyncRun, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">/* asyncRun(void) //{ */</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;ServiceType <a class="code" href="classmrs__lib_1_1ServiceClientHandler__impl.html">ServiceClientHandler_impl&lt;ServiceType&gt;::asyncRun</a>(<span class="keywordtype">void</span>) {</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  ServiceType async_data;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordtype">int</span>         async_attempts;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  {</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    std::scoped_lock lock(mutex_async_);</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    async_data          = async_data_;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    async_attempts      = async_attempts_;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    async_repeat_delay_ = async_repeat_delay_;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  call(async_data, async_attempts, async_repeat_delay_);</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">return</span> async_data;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;}</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;<span class="comment">// |                    ServiceClientHandler                    |</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment">// --------------------------------------------------------------</span></div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">/* operator= //{ */</span></div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">  204</a></span>&#160;<a class="code" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler&lt;ServiceType&gt;</a>&amp; <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#a03d184432cd8b51f683746e87b071bdb">ServiceClientHandler&lt;ServiceType&gt;::operator=</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler&lt;ServiceType&gt;</a>&amp; other) {</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">this</span> == &amp;other) {</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">if</span> (other.impl_) {</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    this-&gt;impl_ = other.impl_;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  }</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;}</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">/* copy constructor //{ */</span></div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#acf286dd2720d41fa05e98c7327d94413">  222</a></span>&#160;<a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#a7d0e35cfbbe280ab0d739c23a26189de">ServiceClientHandler&lt;ServiceType&gt;::ServiceClientHandler</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html">ServiceClientHandler&lt;ServiceType&gt;</a>&amp; other) {</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">if</span> (other.impl_) {</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    this-&gt;impl_ = other.impl_;</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="comment">/* ServiceClientHandler(ros::NodeHandle&amp; nh, const std::string&amp; address) //{ */</span></div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#a6da5592ce8388bd1aa08b63fd3d3d060">  234</a></span>&#160;<a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#a7d0e35cfbbe280ab0d739c23a26189de">ServiceClientHandler&lt;ServiceType&gt;::ServiceClientHandler</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address) {</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  impl_ = std::make_shared&lt;ServiceClientHandler_impl&lt;ServiceType&gt;&gt;(nh, address);</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;}</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">/* initialize(ros::NodeHandle&amp; nh, const std::string&amp; address) //{ */</span></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">  244</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#adff9526494a62051bf864ef6a7178450">ServiceClientHandler&lt;ServiceType&gt;::initialize</a>(ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; address) {</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  impl_ = std::make_shared&lt;ServiceClientHandler_impl&lt;ServiceType&gt;&gt;(nh, address);</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="comment">/* call(ServiceType&amp; srv) //{ */</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">  254</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">ServiceClientHandler&lt;ServiceType&gt;::call</a>(ServiceType&amp; srv) {</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordflow">return</span> impl_-&gt;call(srv);</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;}</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">/* call(ServiceType&amp; srv, const int&amp; attempts) //{ */</span></div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#a7eee51ebff7a805d425673ddc166d489">  264</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">ServiceClientHandler&lt;ServiceType&gt;::call</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts) {</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keywordflow">return</span> impl_-&gt;call(srv, attempts);</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;}</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="comment">/* call(ServiceType&amp; srv, const int&amp; attempts, const double&amp; repeat_delay) //{ */</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00274"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#afdf41e0cf6b2fa0941ee0ae703facc71">  274</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#acd827db26db5d8e1f310769509176fe2">ServiceClientHandler&lt;ServiceType&gt;::call</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; repeat_delay) {</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordflow">return</span> impl_-&gt;call(srv, attempts, repeat_delay);</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;}</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="comment">/* callAsync(ServiceType&amp; srv) //{ */</span></div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">  284</a></span>&#160;std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">ServiceClientHandler&lt;ServiceType&gt;::callAsync</a>(ServiceType&amp; srv) {</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  std::future&lt;ServiceType&gt; res = impl_-&gt;callAsync(srv);</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordflow">return</span> res;</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;}</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="comment">/* callAsync(ServiceType&amp; srv, const int&amp; attempts) //{ */</span></div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#a390d8d24962c3efd849f44627b29387e">  296</a></span>&#160;std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">ServiceClientHandler&lt;ServiceType&gt;::callAsync</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts) {</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  std::future&lt;ServiceType&gt; res = impl_-&gt;callAsync(srv, attempts);</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordflow">return</span> res;</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">/* callAsync(ServiceType&amp; srv, const int&amp; attempts, const double&amp; repeat_delay) //{ */</span></div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ServiceType&gt;</div>
+<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ServiceClientHandler.html#ac6babcda855d48bc3b8fc72f45f7672b">  308</a></span>&#160;std::future&lt;ServiceType&gt; <a class="code" href="classmrs__lib_1_1ServiceClientHandler.html#aa7f3a5d1566aa2a361594797f162ca0d">ServiceClientHandler&lt;ServiceType&gt;::callAsync</a>(ServiceType&amp; srv, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; attempts, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; repeat_delay) {</div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  std::future&lt;ServiceType&gt; res = impl_-&gt;callAsync(srv, attempts, repeat_delay);</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">return</span> res;</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;}</div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">#endif  // SERVICE_CLIENT_HANDLER_HPP</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ServiceClientHandler_html"><div class="ttname"><a href="classmrs__lib_1_1ServiceClientHandler.html">mrs_lib::ServiceClientHandler</a></div><div class="ttdoc">user wrapper of the service client handler implementation</div><div class="ttdef"><b>Definition:</b> service_client_handler.h:128</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ServiceClientHandler__impl_html"><div class="ttname"><a href="classmrs__lib_1_1ServiceClientHandler__impl.html">mrs_lib::ServiceClientHandler_impl</a></div><div class="ttdoc">implementation of the service client handler</div><div class="ttdef"><b>Definition:</b> service_client_handler.h:24</div></div>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">shapes.h File Reference</div>  </div>
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+<p>Defines various geometrical shapes and their relations.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;boost/optional.hpp&gt;</code><br />
+<code>#include &lt;Eigen/Dense&gt;</code><br />
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric representation of a triangle. Instantiate a new triangle by providing three vertices  <a href="classmrs__lib_1_1geometry_1_1Triangle.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric representation of a rectangle (can represent any quadrilateral)  <a href="classmrs__lib_1_1geometry_1_1Rectangle.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric representation of a cuboid  <a href="classmrs__lib_1_1geometry_1_1Cuboid.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric representation of an ellipse  <a href="classmrs__lib_1_1geometry_1_1Ellipse.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric representation of a cylinder  <a href="classmrs__lib_1_1geometry_1_1Cylinder.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">geometric representaiton of a cone  <a href="classmrs__lib_1_1geometry_1_1Cone.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines various geometrical shapes and their relations. </p>
+<dl class="section author"><dt>Author</dt><dd>Petr Štibinger - <a href="#" onclick="location.href='mai'+'lto:'+'sti'+'bi'+'pet'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">stibi<span style="display: none;">.nosp@m.</span>pet@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd>
+<dd>
+Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
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diff --git a/shapes_8h__incl.map b/shapes_8h__incl.map
new file mode 100644
index 00000000..0d4e915d
--- /dev/null
+++ b/shapes_8h__incl.map
@@ -0,0 +1,5 @@
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diff --git a/shapes_8h__incl.md5 b/shapes_8h__incl.md5
new file mode 100644
index 00000000..54ceae1f
--- /dev/null
+++ b/shapes_8h__incl.md5
@@ -0,0 +1 @@
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+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">shapes.h</div>  </div>
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+<div class="contents">
+<a href="shapes_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef SHAPES_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define SHAPES_H</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;boost/optional.hpp&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">namespace </span>geometry</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="comment">/* class Ray //{ */</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1geometry_1_1Ray.html">   24</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    {</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">Ray</a>();</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a">~Ray</a>();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">Ray</a>(Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">p1</a>, Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">p2</a>);</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      Eigen::Vector3d point1;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      Eigen::Vector3d point2;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">p1</a>() <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">direction</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">static</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">twopointCast</a>(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo);</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">static</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#ab8ea82597cf6d0eb1e72105c13f41fed">directionCast</a>(Eigen::Vector3d origin, Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">direction</a>);</div>
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+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">/* class Triangle //{ */</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1geometry_1_1Triangle.html">   98</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1geometry_1_1Triangle.html">Triangle</a></div>
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+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">public</span>:</div>
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+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
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+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
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+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
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+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
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+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
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+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
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+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
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+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keyword">const</span> boost::optional&lt;Eigen::Vector3d&gt; <a class="code" href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">intersectionRay</a>(<a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">Ray</a> r, <span class="keywordtype">double</span> epsilon = 1e-4) <span class="keyword">const</span>;</div>
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+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
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+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Rectangle.html#a66d9286f92d6f8ea5c7ebc7400cb29be">~Rectangle</a>();</div>
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+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      Eigen::Vector3d point3;</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      Eigen::Vector3d point4;</div>
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+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
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+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
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+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
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+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">Ellipse</a>();</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650">~Ellipse</a>();</div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">Ellipse</a>(Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">center</a>, Eigen::Quaterniond <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">orientation</a>, <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">a</a>, <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">b</a>);</div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
+<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keywordtype">double</span> major_semi;</div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keywordtype">double</span> minor_semi;</div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      Eigen::Vector3d center_point;</div>
+<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      Eigen::Quaterniond absolute_orientation;</div>
+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">a</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">b</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
+<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">center</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keyword">const</span> Eigen::Quaterniond <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html#a65f59ca228eea37a914ce0d6d6695b2d">orientation</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    };</div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
+<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    <span class="comment">/* class Cylinder //{ */</span></div>
+<div class="line"><a name="l00490"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1geometry_1_1Cylinder.html">  490</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html">Cylinder</a></div>
+<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    {</div>
+<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#ae4b5f3500ae892f398ab88f5e545e0aa">Cylinder</a>();</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9a558196740fd2be133a3c2df7173f4f">~Cylinder</a>();</div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#ae4b5f3500ae892f398ab88f5e545e0aa">Cylinder</a>(Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">center</a>, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> height, Eigen::Quaterniond <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">orientation</a>);</div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      Eigen::Vector3d center_point;</div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordtype">double</span> radius;</div>
+<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      <span class="keywordtype">double</span> height;</div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      Eigen::Quaterniond absolute_orientation;</div>
+<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
+<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keyword">enum</span></div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      {</div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        BOTTOM = 0,</div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        TOP = 1,</div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      };</div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">center</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <span class="keyword">const</span> Eigen::Quaterniond <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">orientation</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
+<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">r</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
+<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">h</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
+<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a> <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">getCap</a>(<span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    };</div>
+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
+<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    <span class="comment">/* class Cone //{ */</span></div>
+<div class="line"><a name="l00573"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1geometry_1_1Cone.html">  573</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html">Cone</a></div>
+<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    {</div>
+<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399">Cone</a>();</div>
+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
+<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586">~Cone</a>();</div>
+<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399">Cone</a>(Eigen::Vector3d origin_point, <span class="keywordtype">double</span> angle, <span class="keywordtype">double</span> height, Eigen::Vector3d orientation);</div>
+<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
+<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      Eigen::Vector3d origin_point;</div>
+<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;      <span class="keywordtype">double</span> angle;</div>
+<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      <span class="keywordtype">double</span> height;</div>
+<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      Eigen::Vector3d absolute_direction;</div>
+<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
+<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">origin</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160; </div>
+<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">direction</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160; </div>
+<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">center</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160; </div>
+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">theta</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
+<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">h</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160; </div>
+<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html">Ellipse</a> <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">getCap</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160; </div>
+<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      <span class="keyword">const</span> std::optional&lt;Eigen::Vector3d&gt; <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html#a80223a2934d899aead407545c044e279">projectPoint</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; point) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    };</div>
+<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  }  <span class="comment">// namespace geometry</span></div>
+<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160; </div>
+<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;<span class="preprocessor">#endif  // SHAPES_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html_aa0bff9427d14806607b5689f1d71604d"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html#aa0bff9427d14806607b5689f1d71604d">mrs_lib::geometry::Ray::Ray</a></div><div class="ttdeci">Ray()</div><div class="ttdoc">constructor without initialization of internal variables</div><div class="ttdef"><b>Definition:</b> shapes.cpp:13</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_a9a558196740fd2be133a3c2df7173f4f"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9a558196740fd2be133a3c2df7173f4f">mrs_lib::geometry::Cylinder::~Cylinder</a></div><div class="ttdeci">~Cylinder()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> shapes.cpp:498</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_a2e0546bb5ccb22ee88f1056dccc9a488"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#a2e0546bb5ccb22ee88f1056dccc9a488">mrs_lib::geometry::Cone::getCap</a></div><div class="ttdeci">const Ellipse getCap() const</div><div class="ttdoc">getter for the cap of the cone</div><div class="ttdef"><b>Definition:</b> shapes.cpp:600</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_aa7eccea15c92f1df02fc48684bb4d219"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa7eccea15c92f1df02fc48684bb4d219">mrs_lib::geometry::Cylinder::orientation</a></div><div class="ttdeci">const Eigen::Quaterniond orientation() const</div><div class="ttdoc">getter for the orientation</div><div class="ttdef"><b>Definition:</b> shapes.cpp:517</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html_ab891e8f86df11bb34f0571ebeb136c2a"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab891e8f86df11bb34f0571ebeb136c2a">mrs_lib::geometry::Ellipse::Ellipse</a></div><div class="ttdeci">Ellipse()</div><div class="ttdoc">constructor for initialization without setting internal variables</div><div class="ttdef"><b>Definition:</b> shapes.cpp:449</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_a94238065a0e8d0c27135f55e1daa4ed3"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#a94238065a0e8d0c27135f55e1daa4ed3">mrs_lib::geometry::Triangle::intersectionRay</a></div><div class="ttdeci">const boost::optional&lt; Eigen::Vector3d &gt; intersectionRay(Ray r, double epsilon=1e-4) const</div><div class="ttdoc">calculate an intersection of this triangle with a given ray with given tolerance</div><div class="ttdef"><b>Definition:</b> shapes.cpp:122</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_ad873b5c4ba04613f24dd12348f898487"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#ad873b5c4ba04613f24dd12348f898487">mrs_lib::geometry::Triangle::vertices</a></div><div class="ttdeci">const std::vector&lt; Eigen::Vector3d &gt; vertices() const</div><div class="ttdoc">get a vector of all vertices</div><div class="ttdef"><b>Definition:</b> shapes.cpp:111</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a0b92252c39c755b3a7cba989fbb5c854"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a0b92252c39c755b3a7cba989fbb5c854">mrs_lib::geometry::Rectangle::intersectionRay</a></div><div class="ttdeci">const boost::optional&lt; Eigen::Vector3d &gt; intersectionRay(Ray r, double epsilon=1e-4) const</div><div class="ttdoc">calculate an intersection of this rectangle with a given ray with given tolerance</div><div class="ttdef"><b>Definition:</b> shapes.cpp:247</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_ae687be891abfb2db67245cd2c13f8586"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#ae687be891abfb2db67245cd2c13f8586">mrs_lib::geometry::Cone::~Cone</a></div><div class="ttdeci">~Cone()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> shapes.cpp:561</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html_ab42e4c580aeda44204c5854e1ccd4513"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html#ab42e4c580aeda44204c5854e1ccd4513">mrs_lib::geometry::Ellipse::b</a></div><div class="ttdeci">double b() const</div><div class="ttdoc">getter for minor semi-axis</div><div class="ttdef"><b>Definition:</b> shapes.cpp:472</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_a766270eba57b916335ad0901fec74355"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a766270eba57b916335ad0901fec74355">mrs_lib::geometry::Cylinder::center</a></div><div class="ttdeci">const Eigen::Vector3d center() const</div><div class="ttdoc">getter for the center point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:512</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_a2553c04b3dfef8dfceb938699e11f432"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#a2553c04b3dfef8dfceb938699e11f432">mrs_lib::geometry::Cone::center</a></div><div class="ttdeci">const Eigen::Vector3d center() const</div><div class="ttdoc">getter for the center point. Center point lies in half of the body height</div><div class="ttdef"><b>Definition:</b> shapes.cpp:585</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_aff6f8fb09fb5e7d4ebf2116142b85638"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#aff6f8fb09fb5e7d4ebf2116142b85638">mrs_lib::geometry::Triangle::c</a></div><div class="ttdeci">const Eigen::Vector3d c() const</div><div class="ttdoc">getter for third point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:94</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_ae4b5f3500ae892f398ab88f5e545e0aa"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#ae4b5f3500ae892f398ab88f5e545e0aa">mrs_lib::geometry::Cylinder::Cylinder</a></div><div class="ttdeci">Cylinder()</div><div class="ttdoc">constructor without setting the internal variables</div><div class="ttdef"><b>Definition:</b> shapes.cpp:494</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_a14203384b0eb6d3a7ff01330ab24f679"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#a14203384b0eb6d3a7ff01330ab24f679">mrs_lib::geometry::Triangle::Triangle</a></div><div class="ttdeci">Triangle()</div><div class="ttdoc">constructor for initialization with default values (points [0,0,0], [1,0,0] and [0,...</div><div class="ttdef"><b>Definition:</b> shapes.cpp:64</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a4f2e1bce541675c91179b723aa4f9176"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a4f2e1bce541675c91179b723aa4f9176">mrs_lib::geometry::Rectangle::triangles</a></div><div class="ttdeci">const std::vector&lt; Triangle &gt; triangles() const</div><div class="ttdoc">getter for the triangles forming this rectangle</div><div class="ttdef"><b>Definition:</b> shapes.cpp:234</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html_a7c830a43aa9550ef6d7b798dcb69f3f5"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html#a7c830a43aa9550ef6d7b798dcb69f3f5">mrs_lib::geometry::Ray::p2</a></div><div class="ttdeci">const Eigen::Vector3d p2() const</div><div class="ttdoc">get the end point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_a319fa2045f6d56c94f3fa198bd7ae7fc"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#a319fa2045f6d56c94f3fa198bd7ae7fc">mrs_lib::geometry::Cone::h</a></div><div class="ttdeci">double h() const</div><div class="ttdoc">getter for body height</div><div class="ttdef"><b>Definition:</b> shapes.cpp:595</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_a419f55d2c47dac6035495004fec746c9"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#a419f55d2c47dac6035495004fec746c9">mrs_lib::geometry::Triangle::center</a></div><div class="ttdeci">const Eigen::Vector3d center() const</div><div class="ttdoc">get position on the triangle center</div><div class="ttdef"><b>Definition:</b> shapes.cpp:106</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></div><div class="ttdoc">geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-t...</div><div class="ttdef"><b>Definition:</b> shapes.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html_aee622887a91b50f8fa8bbd476614006e"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html#aee622887a91b50f8fa8bbd476614006e">mrs_lib::geometry::Ellipse::a</a></div><div class="ttdeci">double a() const</div><div class="ttdoc">getter for major semi-axis</div><div class="ttdef"><b>Definition:</b> shapes.cpp:467</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></div><div class="ttdoc">geometric representation of a cuboid</div><div class="ttdef"><b>Definition:</b> shapes.h:317</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_aec6ae68b84c5a24580068fbc70a9452d"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#aec6ae68b84c5a24580068fbc70a9452d">mrs_lib::geometry::Rectangle::d</a></div><div class="ttdeci">const Eigen::Vector3d d() const</div><div class="ttdoc">getter for the fourth point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:207</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html_ae03413de879b1dd07df7a8f26b0a75f2"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html#ae03413de879b1dd07df7a8f26b0a75f2">mrs_lib::geometry::Cuboid::vertices</a></div><div class="ttdeci">const std::vector&lt; Eigen::Vector3d &gt; vertices() const</div><div class="ttdoc">getter for all vertices (vector3) of this cuboid</div><div class="ttdef"><b>Definition:</b> shapes.cpp:406</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_a35b559777042218051ff46c3b7353232"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#a35b559777042218051ff46c3b7353232">mrs_lib::geometry::Cone::origin</a></div><div class="ttdeci">const Eigen::Vector3d origin() const</div><div class="ttdoc">getter for the tip point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:575</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html_a31a698a34b8443596be58a06f3046c79"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a31a698a34b8443596be58a06f3046c79">mrs_lib::geometry::Cuboid::Cuboid</a></div><div class="ttdeci">Cuboid()</div><div class="ttdoc">constructor for initialization with all points set to [0,0,0]</div><div class="ttdef"><b>Definition:</b> shapes.cpp:295</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_a708721c0fde7cb53e7ba4e585a2d5743"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#a708721c0fde7cb53e7ba4e585a2d5743">mrs_lib::geometry::Cone::theta</a></div><div class="ttdeci">double theta() const</div><div class="ttdoc">getter for angle between body height and body side</div><div class="ttdef"><b>Definition:</b> shapes.cpp:590</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_ab541a2748c4876234b4af0f3c220fb2d"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#ab541a2748c4876234b4af0f3c220fb2d">mrs_lib::geometry::Rectangle::center</a></div><div class="ttdeci">const Eigen::Vector3d center() const</div><div class="ttdoc">getter for center point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:212</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_af119a484beb0dbae7dd0a9a2d5f5123d"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#af119a484beb0dbae7dd0a9a2d5f5123d">mrs_lib::geometry::Rectangle::Rectangle</a></div><div class="ttdeci">Rectangle()</div><div class="ttdoc">constructor for initialization with points set to [0,0,0], [1,0,0], [1,1,0] and [0,...</div><div class="ttdef"><b>Definition:</b> shapes.cpp:162</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_a6ac4e01a62fbb343d177bf47b3d38219"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#a6ac4e01a62fbb343d177bf47b3d38219">mrs_lib::geometry::Triangle::b</a></div><div class="ttdeci">const Eigen::Vector3d b() const</div><div class="ttdoc">getter for second point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:89</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_ad5cc0e9eb09f9f4900f94fa1908b60f3"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#ad5cc0e9eb09f9f4900f94fa1908b60f3">mrs_lib::geometry::Triangle::~Triangle</a></div><div class="ttdeci">~Triangle()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> shapes.cpp:78</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a5370711517c0449167cfd0efaee8e821"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5370711517c0449167cfd0efaee8e821">mrs_lib::geometry::Rectangle::a</a></div><div class="ttdeci">const Eigen::Vector3d a() const</div><div class="ttdoc">getter for first point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:192</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html_a8591c6b82a120832a7ed349fbd90163a"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html#a8591c6b82a120832a7ed349fbd90163a">mrs_lib::geometry::Ray::p1</a></div><div class="ttdeci">const Eigen::Vector3d p1() const</div><div class="ttdoc">get the origin point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:31</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></div><div class="ttdoc">geometric representation of an ellipse</div><div class="ttdef"><b>Definition:</b> shapes.h:426</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_a9730caea8c6bd44467038a8e04212fe6"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a9730caea8c6bd44467038a8e04212fe6">mrs_lib::geometry::Cylinder::getCap</a></div><div class="ttdeci">const Ellipse getCap(int index) const</div><div class="ttdoc">getter for a cap corresponding to a provided index</div><div class="ttdef"><b>Definition:</b> shapes.cpp:532</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_aa442455784da2246f8bc25aa0eccadbb"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#aa442455784da2246f8bc25aa0eccadbb">mrs_lib::geometry::Cylinder::r</a></div><div class="ttdeci">double r() const</div><div class="ttdoc">getter for cap radius</div><div class="ttdef"><b>Definition:</b> shapes.cpp:522</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html_a058c83435e1cf0f393c1bde54e94f570"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html#a058c83435e1cf0f393c1bde54e94f570">mrs_lib::geometry::Ellipse::center</a></div><div class="ttdeci">const Eigen::Vector3d center() const</div><div class="ttdoc">getter for the center point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:477</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a82cb0598bd97e772d5fdbeeb5fde3657"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a82cb0598bd97e772d5fdbeeb5fde3657">mrs_lib::geometry::Rectangle::b</a></div><div class="ttdeci">const Eigen::Vector3d b() const</div><div class="ttdoc">getter for the second point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:197</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_abd847d705725f4dffa10e6e00ba5f24c"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#abd847d705725f4dffa10e6e00ba5f24c">mrs_lib::geometry::Triangle::a</a></div><div class="ttdeci">const Eigen::Vector3d a() const</div><div class="ttdoc">getter for first point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:84</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_a27103a8552d930ae3a3a2513990d9399"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#a27103a8552d930ae3a3a2513990d9399">mrs_lib::geometry::Cone::Cone</a></div><div class="ttdeci">Cone()</div><div class="ttdoc">constructor without setting the internal variables</div><div class="ttdef"><b>Definition:</b> shapes.cpp:557</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html_a4279ad2916689b183e9647fbede9bcfb"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a4279ad2916689b183e9647fbede9bcfb">mrs_lib::geometry::Cuboid::getRectangle</a></div><div class="ttdeci">const Rectangle getRectangle(int face_idx) const</div><div class="ttdoc">getter for one side corresponding to a provided index</div><div class="ttdef"><b>Definition:</b> shapes.cpp:411</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></div><div class="ttdoc">geometric representation of a rectangle (can represent any quadrilateral)</div><div class="ttdef"><b>Definition:</b> shapes.h:187</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a05fbbe3a262e09d5834431bc31f2648b"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a05fbbe3a262e09d5834431bc31f2648b">mrs_lib::geometry::Rectangle::vertices</a></div><div class="ttdeci">const std::vector&lt; Eigen::Vector3d &gt; vertices() const</div><div class="ttdoc">getter for all the points of this rectangle provided as std::vector</div><div class="ttdef"><b>Definition:</b> shapes.cpp:224</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html_a730fee04b106aa4ec3fe08be6bb90751"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html#a730fee04b106aa4ec3fe08be6bb90751">mrs_lib::geometry::Cylinder::h</a></div><div class="ttdeci">double h() const</div><div class="ttdoc">getter for the body height</div><div class="ttdef"><b>Definition:</b> shapes.cpp:527</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html_ad79e6fdb9416510694f14fd92ca41c7a"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html#ad79e6fdb9416510694f14fd92ca41c7a">mrs_lib::geometry::Ray::~Ray</a></div><div class="ttdeci">~Ray()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> shapes.cpp:25</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a5cf41dfd6e82f02c8bcc18bc134d235b"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a5cf41dfd6e82f02c8bcc18bc134d235b">mrs_lib::geometry::Rectangle::normal</a></div><div class="ttdeci">const Eigen::Vector3d normal() const</div><div class="ttdoc">getter for the normal vector. It originates in the center of the Rectangle, length is normalized,...</div><div class="ttdef"><b>Definition:</b> shapes.cpp:217</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html_aa973eb3025776015d9e542af7aea730f"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html#aa973eb3025776015d9e542af7aea730f">mrs_lib::geometry::Cone::direction</a></div><div class="ttdeci">const Eigen::Vector3d direction() const</div><div class="ttdoc">getter for the direction. Normalized direction from origin towards base</div><div class="ttdef"><b>Definition:</b> shapes.cpp:580</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a803dbb3eb6f8a24146bd4c01877769ce"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a803dbb3eb6f8a24146bd4c01877769ce">mrs_lib::geometry::Rectangle::solidAngleRelativeTo</a></div><div class="ttdeci">double solidAngleRelativeTo(Eigen::Vector3d point) const</div><div class="ttdoc">compute the solid angle of this rectangle relative to a given sphere center</div><div class="ttdef"><b>Definition:</b> shapes.cpp:271</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html_ac9b355e443d37f91d83ab76bbfa35aa6"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html#ac9b355e443d37f91d83ab76bbfa35aa6">mrs_lib::geometry::Triangle::normal</a></div><div class="ttdeci">const Eigen::Vector3d normal() const</div><div class="ttdoc">get normal vector of this triangle. The vector origin is placed at triangle center,...</div><div class="ttdef"><b>Definition:</b> shapes.cpp:99</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html_a4092f0d023b25fcf61fb426c7f0f6630"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html#a4092f0d023b25fcf61fb426c7f0f6630">mrs_lib::geometry::Ray::twopointCast</a></div><div class="ttdeci">static Ray twopointCast(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)</div><div class="ttdoc">static method for generating new rays by raycasting from-to</div><div class="ttdef"><b>Definition:</b> shapes.cpp:48</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></div><div class="ttdoc">geometric representation of a triangle. Instantiate a new triangle by providing three vertices</div><div class="ttdef"><b>Definition:</b> shapes.h:98</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html_a7ce6626c7018bdae2722073490c1729f"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html#a7ce6626c7018bdae2722073490c1729f">mrs_lib::geometry::Cuboid::center</a></div><div class="ttdeci">const Eigen::Vector3d center() const</div><div class="ttdoc">getter for the center point</div><div class="ttdef"><b>Definition:</b> shapes.cpp:416</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html_a973caa18f7b0c2e41b263a4267914650"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html#a973caa18f7b0c2e41b263a4267914650">mrs_lib::geometry::Ellipse::~Ellipse</a></div><div class="ttdeci">~Ellipse()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> shapes.cpp:453</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html_a66d9286f92d6f8ea5c7ebc7400cb29be"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html#a66d9286f92d6f8ea5c7ebc7400cb29be">mrs_lib::geometry::Rectangle::~Rectangle</a></div><div class="ttdeci">~Rectangle()</div><div class="ttdoc">destructor</div><div class="ttdef"><b>Definition:</b> shapes.cpp:186</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html_a01b7ff2bb88b61c178f4991c8cd847bf"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html#a01b7ff2bb88b61c178f4991c8cd847bf">mrs_lib::geometry::Ray::direction</a></div><div class="ttdeci">const Eigen::Vector3d direction() const</div><div class="ttdoc">get the direction of ray (normalized)</div><div class="ttdef"><b>Definition:</b> shapes.cpp:41</div></div>
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+<a href="#func-members">Functions</a>  </div>
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+<div class="title">simple_example.cpp File Reference</div>  </div>
+</div><!--header-->
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+<p>Example file for the SubscribeHandler convenience class.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="subscribe__handler_8h_source.html">mrs_lib/subscribe_handler.h</a>&gt;</code><br />
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the SubscribeHandler convenience class. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>A simple example demonstrating basic usage of the SubscribeHandler class. This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> subscribe_handler_simple_example</code>.</p>
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+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(const float val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(const degrees &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(const float minuend, const float subtrahend)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>diff</b>(const cyclic minuend, const cyclic subtrahend) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(const float from, const float to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(const float val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(const float from, const float to, const float coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interp</b>(const cyclic from, const cyclic to, const float coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(const float from, const float to, const float coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interpUnwrapped</b>(const cyclic from, const cyclic to, const float coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>minimum</b> (defined in <a class="el" href="structdegrees.html">degrees</a>)</td><td class="entry"><a class="el" href="structdegrees.html">degrees</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(const float nval)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a>(cyclic &amp;&amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(const float from, const float to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pdist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(const float from, const float to, const float coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterp</b>(const cyclic from, const cyclic to, const float coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(const float from, const float to, const float coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterpUnwrapped</b>(const cyclic from, const cyclic to, const float coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>supremum</b> (defined in <a class="el" href="structdegrees.html">degrees</a>)</td><td class="entry"><a class="el" href="structdegrees.html">degrees</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(const float what, const float from)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>val</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(const float val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/structdegrees.html b/structdegrees.html
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+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structdegrees-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">degrees Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for degrees:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structdegrees__inherit__graph.png" border="0" usemap="#degrees_inherit__map" alt="Inheritance graph"/></div>
+<map name="degrees_inherit__map" id="degrees_inherit__map">
+<area shape="rect" title=" " alt="" coords="57,95,132,121"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,184,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for degrees:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structdegrees__coll__graph.png" border="0" usemap="#degrees_coll__map" alt="Collaboration graph"/></div>
+<map name="degrees_coll__map" id="degrees_coll__map">
+<area shape="rect" title=" " alt="" coords="57,95,132,121"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,184,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:aec3dfd6bfdb59d806235cf24e3c22577"><td class="memItemLeft" align="right" valign="top"><a id="aec3dfd6bfdb59d806235cf24e3c22577"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>minimum</b> = -180</td></tr>
+<tr class="separator:aec3dfd6bfdb59d806235cf24e3c22577"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2763d82d043afb087e4d2aaba8043b9f"><td class="memItemLeft" align="right" valign="top"><a id="a2763d82d043afb087e4d2aaba8043b9f"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>supremum</b> = 180</td></tr>
+<tr class="separator:a2763d82d043afb087e4d2aaba8043b9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td></tr>
+<tr class="memitem:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="ada8bf8d17bfa81025b75d5a4e1da8ac0"></a>
+static constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></td></tr>
+<tr class="memdesc:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum of the valid interval of wrapped values <img class="formulaInl" alt="$ m $" src="form_16.png"/>. <br /></td></tr>
+<tr class="separator:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="adf3f559f3099bf6002a8f1331df42142"></a>
+static constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a></td></tr>
+<tr class="memdesc:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supremum of the valid interval of wrapped values <img class="formulaInl" alt="$ s $" src="form_17.png"/>. <br /></td></tr>
+<tr class="separator:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a406dfc057fd17b5935add5a7bf9fe325"></a>
+static constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td></tr>
+<tr class="memdesc:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity). <br /></td></tr>
+<tr class="separator:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a78cd52e438886de479af6455e97da2b6"></a>
+static constexpr float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td></tr>
+<tr class="memdesc:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations). <br /></td></tr>
+<tr class="separator:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td></tr>
+<tr class="memitem:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a> ()</td></tr>
+<tr class="memdesc:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">More...</a><br /></td></tr>
+<tr class="separator:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a> (const float val)</td></tr>
+<tr class="memdesc:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor overload.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">More...</a><br /></td></tr>
+<tr class="separator:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">More...</a><br /></td></tr>
+<tr class="separator:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">degrees</a> &amp;other)</td></tr>
+<tr class="memdesc:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">More...</a><br /></td></tr>
+<tr class="separator:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a> () const</td></tr>
+<tr class="memdesc:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for <code>val</code>.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">More...</a><br /></td></tr>
+<tr class="separator:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a> () const</td></tr>
+<tr class="memdesc:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">More...</a><br /></td></tr>
+<tr class="separator:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a> (const float nval)</td></tr>
+<tr class="memdesc:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">More...</a><br /></td></tr>
+<tr class="separator:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">More...</a><br /></td></tr>
+<tr class="separator:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a> (<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">More...</a><br /></td></tr>
+<tr class="separator:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">More...</a><br /></td></tr>
+<tr class="separator:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">More...</a><br /></td></tr>
+<tr class="separator:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td></tr>
+<tr class="memitem:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a> (const float val)</td></tr>
+<tr class="memdesc:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if <code>val</code> is within the valid interval of wrapped values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">More...</a><br /></td></tr>
+<tr class="separator:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a> (const float val)</td></tr>
+<tr class="memdesc:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns <code>val</code>, converted to the valid interval of values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">More...</a><br /></td></tr>
+<tr class="separator:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a> (const float what, const float from)</td></tr>
+<tr class="memdesc:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns value of the parameter <code>what</code> modified so that there is no "jump" between <code>from</code> and \t what.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">More...</a><br /></td></tr>
+<tr class="separator:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a> (const float from, const float to)</td></tr>
+<tr class="memdesc:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns length of the shortest walk in the positive direction from the first parameter to the second one.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">More...</a><br /></td></tr>
+<tr class="separator:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a974285ad270bdbc7e09079c8c8017d9e"></a>
+static float&#160;</td><td class="memItemRight" valign="bottom"><b>pdist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a> (const float minuend, const float subtrahend)</td></tr>
+<tr class="memdesc:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the difference between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">More...</a><br /></td></tr>
+<tr class="separator:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af03272e29206d48f17e2dcb1595db342"></a>
+static float&#160;</td><td class="memItemRight" valign="bottom"><b>diff</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> minuend, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> subtrahend)</td></tr>
+<tr class="separator:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a> (const float from, const float to)</td></tr>
+<tr class="memdesc:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the distance between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">More...</a><br /></td></tr>
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+<tr class="memdesc:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">More...</a><br /></td></tr>
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+<tr class="memitem:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a> (const float from, const float to, const float coeff)</td></tr>
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+<tr class="separator:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static float&#160;</td><td class="memItemRight" valign="bottom"><b>pinterpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const float coeff)</td></tr>
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+<tr class="memdesc:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">More...</a><br /></td></tr>
+<tr class="separator:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static float&#160;</td><td class="memItemRight" valign="bottom"><b>pinterp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const float coeff)</td></tr>
+<tr class="separator:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;what)</td></tr>
+<tr class="memdesc:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">More...</a><br /></td></tr>
+<tr class="separator:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; float, degrees &gt;</a></td></tr>
+<tr class="memitem:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a94f9db20b89133f33a4c7117a8224a0b"></a>
+float&#160;</td><td class="memItemRight" valign="bottom"><b>val</b></td></tr>
+<tr class="separator:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><dl class="section examples"><dt>Examples</dt><dd><a class="el" href="geometry_2cyclic_example_8cpp-example.html#_a0">geometry/cyclic_example.cpp</a>.</dd>
+</dl>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>src/geometry/<a class="el" href="cyclic__example_8cpp.html">cyclic_example.cpp</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="structdegrees.html">degrees</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
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diff --git a/structdegrees__coll__graph.md5 b/structdegrees__coll__graph.md5
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index 00000000..f90b4174
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+<div class="title">mrs_lib::AttitudeConverter::EulerFormatException Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">mrs_lib::AttitudeConverter::EulerFormatException</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>what</b>() const (defined in <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">mrs_lib::AttitudeConverter::EulerFormatException</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">mrs_lib::AttitudeConverter::EulerFormatException</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter::EulerFormatException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>is thrown when the Euler angle format is set wrongly  
+ <a href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::AttitudeConverter::EulerFormatException:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.png" border="0" usemap="#mrs__lib_1_1AttitudeConverter_1_1EulerFormatException_inherit__map" alt="Inheritance graph"/></div>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::AttitudeConverter::EulerFormatException:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a90bf91f9cf25539f57aea2103abe5b5e"><td class="memItemLeft" align="right" valign="top"><a id="a90bf91f9cf25539f57aea2103abe5b5e"></a>
+const char *&#160;</td><td class="memItemRight" valign="bottom"><b>what</b> () const  throw ()</td></tr>
+<tr class="separator:a90bf91f9cf25539f57aea2103abe5b5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>is thrown when the Euler angle format is set wrongly </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
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+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a></li><li class="navelem"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.html">EulerFormatException</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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new file mode 100644
index 00000000..3c283237
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+++ b/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException.js
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.map b/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.map
new file mode 100644
index 00000000..8e808907
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::AttitudeConverter::EulerFormatException" name="mrs_lib::AttitudeConverter::EulerFormatException">
+<area shape="rect" id="node1" title="is thrown when the Euler angle format is set wrongly" alt="" coords="5,80,200,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="59,5,146,32"/>
+</map>
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.md5
new file mode 100644
index 00000000..0d769c32
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.png b/structmrs__lib_1_1AttitudeConverter_1_1EulerFormatException__inherit__graph.png
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">mrs_lib::AttitudeConverter::GetHeadingException</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>what</b>() const (defined in <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">mrs_lib::AttitudeConverter::GetHeadingException</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html">mrs_lib::AttitudeConverter::GetHeadingException</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::AttitudeConverter::GetHeadingException Struct Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter::GetHeadingException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>is thrown when calculating of heading is not possible due to atan2 exception  
+ <a href="structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::AttitudeConverter::GetHeadingException:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>is thrown when calculating of heading is not possible due to atan2 exception </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+</ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.map b/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.map
new file mode 100644
index 00000000..dc1778b9
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::AttitudeConverter::GetHeadingException" name="mrs_lib::AttitudeConverter::GetHeadingException">
+<area shape="rect" id="node1" title="is thrown when calculating of heading is not possible due to atan2 exception" alt="" coords="5,80,200,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="59,5,146,32"/>
+</map>
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.md5
new file mode 100644
index 00000000..fee5a872
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.md5
@@ -0,0 +1 @@
+150fdc740f9d80c1007a346abfdf6c19
\ No newline at end of file
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.png b/structmrs__lib_1_1AttitudeConverter_1_1GetHeadingException__inherit__graph.png
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html">mrs_lib::AttitudeConverter::InvalidAttitudeException</a>, including all inherited members.</p>
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+   </div>
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter::InvalidAttitudeException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>is thrown when the internal attitude becomes invalid  
+ <a href="structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException.html#details">More...</a></p>
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+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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HcmV?d00001

diff --git a/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.map b/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.map
new file mode 100644
index 00000000..93f860ae
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::AttitudeConverter::InvalidAttitudeException" name="mrs_lib::AttitudeConverter::InvalidAttitudeException">
+<area shape="rect" id="node1" title="is thrown when the internal attitude becomes invalid" alt="" coords="5,80,200,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="59,5,146,32"/>
+</map>
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.md5
new file mode 100644
index 00000000..8df1a836
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.md5
@@ -0,0 +1 @@
+14c62a6e7a6f35af73544b5a593c27d7
\ No newline at end of file
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.png b/structmrs__lib_1_1AttitudeConverter_1_1InvalidAttitudeException__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..15fa859c0a82a1461d9e3dadd65f7e76ad67772e
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::AttitudeConverter::MathErrorException Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">mrs_lib::AttitudeConverter::MathErrorException</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>what</b>() const (defined in <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">mrs_lib::AttitudeConverter::MathErrorException</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">mrs_lib::AttitudeConverter::MathErrorException</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::AttitudeConverter::MathErrorException Struct Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+ </tr>
+ </tbody>
+</table>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter::MathErrorException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>is thrown when math breaks  
+ <a href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::AttitudeConverter::MathErrorException:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
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+Public Member Functions</h2></td></tr>
+<tr class="memitem:abbcf2cf961b24158e9b4f4a6655ae42f"><td class="memItemLeft" align="right" valign="top"><a id="abbcf2cf961b24158e9b4f4a6655ae42f"></a>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>is thrown when math breaks </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a></li><li class="navelem"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1MathErrorException.html">MathErrorException</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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new file mode 100644
index 00000000..862d9803
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+var structmrs__lib_1_1AttitudeConverter_1_1MathErrorException =
+[
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+];
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__coll__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__coll__graph.md5
new file mode 100644
index 00000000..bf359346
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.map b/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.map
new file mode 100644
index 00000000..663c8b73
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.md5
new file mode 100644
index 00000000..bf359346
--- /dev/null
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.png b/structmrs__lib_1_1AttitudeConverter_1_1MathErrorException__inherit__graph.png
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+   <div id="projectname">mrs_lib
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">mrs_lib::AttitudeConverter::SetHeadingException</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>what</b>() const (defined in <a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">mrs_lib::AttitudeConverter::SetHeadingException</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">mrs_lib::AttitudeConverter::SetHeadingException</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::AttitudeConverter::SetHeadingException Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>is thrown when the heading cannot be set to an existing attitude  
+ <a href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<area shape="rect" title=" " alt="" coords="59,5,146,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::AttitudeConverter::SetHeadingException:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.png" border="0" usemap="#mrs__lib_1_1AttitudeConverter_1_1SetHeadingException_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1AttitudeConverter_1_1SetHeadingException_coll__map" id="mrs__lib_1_1AttitudeConverter_1_1SetHeadingException_coll__map">
+<area shape="rect" title="is thrown when the heading cannot be set to an existing attitude" alt="" coords="5,80,200,121"/>
+<area shape="rect" title=" " alt="" coords="59,5,146,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a32d0564ba5616e6579cf8a2dd98592ca"><td class="memItemLeft" align="right" valign="top"><a id="a32d0564ba5616e6579cf8a2dd98592ca"></a>
+const char *&#160;</td><td class="memItemRight" valign="bottom"><b>what</b> () const  throw ()</td></tr>
+<tr class="separator:a32d0564ba5616e6579cf8a2dd98592ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>is thrown when the heading cannot be set to an existing attitude </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1AttitudeConverter.html">AttitudeConverter</a></li><li class="navelem"><a class="el" href="structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html">SetHeadingException</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.js b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.js
new file mode 100644
index 00000000..af00fb6d
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.js
@@ -0,0 +1,4 @@
+var structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException =
+[
+    [ "what", "structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException.html#a32d0564ba5616e6579cf8a2dd98592ca", null ]
+];
\ No newline at end of file
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.map b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.map
new file mode 100644
index 00000000..d9b88acb
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::AttitudeConverter::SetHeadingException" name="mrs_lib::AttitudeConverter::SetHeadingException">
+<area shape="rect" id="node1" title="is thrown when the heading cannot be set to an existing attitude" alt="" coords="5,80,200,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="59,5,146,32"/>
+</map>
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.md5
new file mode 100644
index 00000000..028cf46d
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.png b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__coll__graph.png
new file mode 100644
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.map b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.map
new file mode 100644
index 00000000..d9b88acb
--- /dev/null
+++ b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" title=" " alt="" coords="59,5,146,32"/>
+</map>
diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.md5 b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.md5
new file mode 100644
index 00000000..028cf46d
--- /dev/null
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diff --git a/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.png b/structmrs__lib_1_1AttitudeConverter_1_1SetHeadingException__inherit__graph.png
new file mode 100644
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diff --git a/structmrs__lib_1_1ImagePubliserData-members.html b/structmrs__lib_1_1ImagePubliserData-members.html
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+<title>mrs_lib: Member List</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<div id="doc-content">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">mrs_lib::ImagePubliserData Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ImagePubliserData</b>(const image_transport::Publisher &amp;publisher, const std::string &amp;topic_name, const ros::Time &amp;last_hit) (defined in <a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>last_hit</b> (defined in <a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>pub_mutex</b> (defined in <a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>publisher</b> (defined in <a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>topic_name</b> (defined in <a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ImagePubliserData.html">mrs_lib::ImagePubliserData</a></td><td class="entry"></td></tr>
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+</div><!-- doc-content -->
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+<title>mrs_lib: mrs_lib::ImagePubliserData Struct Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
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+ros::Time&#160;</td><td class="memItemRight" valign="bottom"><b>last_hit</b></td></tr>
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+<li>include/mrs_lib/<a class="el" href="image__publisher_8h_source.html">image_publisher.h</a></li>
+</ul>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="title">mrs_lib::Intersection Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>intersect</b> (defined in <a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Intersection</b>(bool intersect, bool parallel=false, Eigen::RowVector2d point=Eigen::RowVector2d{}) (defined in <a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>parallel</b> (defined in <a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>point</b> (defined in <a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1Intersection.html">mrs_lib::Intersection</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>mrs_lib: mrs_lib::Intersection Struct Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<script type="text/javascript">
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1Intersection-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::Intersection Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
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+<tr class="memitem:ae9426aa1099955e326ef8e65c4b5edc7"><td class="memItemLeft" align="right" valign="top"><a id="ae9426aa1099955e326ef8e65c4b5edc7"></a>
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+<tr class="separator:a999a121be8f56b8f808ad9478d9ff5c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<hr/>The documentation for this struct was generated from the following files:<ul>
+<li>include/mrs_lib/safety_zone/<a class="el" href="line__operations_8h_source.html">line_operations.h</a></li>
+<li>src/safety_zone/line_operations.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception</a>, including all inherited members.</p>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by
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+<title>mrs_lib: mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1JLKF_1_1inverse__exception-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This exception is thrown when taking the inverse of a matrix fails.  
+ <a href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="jlkf_8h_source.html">jlkf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a1f02bea6207ec02864a693067bcd499f"><td class="memItemLeft" align="right" valign="top">const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#a1f02bea6207ec02864a693067bcd499f">what</a> () const  throw ()</td></tr>
+<tr class="memdesc:a1f02bea6207ec02864a693067bcd499f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the error message, describing what caused the exception.  <a href="structmrs__lib_1_1JLKF_1_1inverse__exception.html#a1f02bea6207ec02864a693067bcd499f">More...</a><br /></td></tr>
+<tr class="separator:a1f02bea6207ec02864a693067bcd499f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements, int n_biases&gt;<br />
+struct mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception</h3>
+
+<p>This exception is thrown when taking the inverse of a matrix fails. </p>
+<p>You should catch this exception in your code and act accordingly if it appears (e.g. reset the state and covariance or modify the measurement/process noise parameters). </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1f02bea6207ec02864a693067bcd499f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f02bea6207ec02864a693067bcd499f">&#9670;&nbsp;</a></span>what()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const char* <a class="el" href="classmrs__lib_1_1JLKF.html">mrs_lib::JLKF</a>&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception::what </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+        <tr>
+          <td align="right">throw </td><td>(</td><td colspan="2"></td>
+        </tr>
+        <tr>
+          <td align="right"></td><td>)</td><td></td><td></td>
+        </tr>
+      </table>
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+<p>Returns the error message, describing what caused the exception. </p>
+<dl class="section return"><dt>Returns</dt><dd>The error message, describing what caused the exception. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="jlkf_8h_source.html">jlkf.h</a></li>
+</ul>
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diff --git a/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.map b/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.map
new file mode 100644
index 00000000..3a0c65a2
--- /dev/null
+++ b/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception" name="mrs_lib::JLKF&lt; n_states, n_inputs, n_measurements, n_biases &gt;::inverse_exception">
+<area shape="rect" id="node1" title="This exception is thrown when taking the inverse of a matrix fails." alt="" coords="5,80,231,136"/>
+<area shape="rect" id="node2" title=" " alt="" coords="75,5,161,32"/>
+</map>
diff --git a/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.md5 b/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.md5
new file mode 100644
index 00000000..1a0a949e
--- /dev/null
+++ b/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.md5
@@ -0,0 +1 @@
+2b27b7fdeed4e686073a4fe14091d71f
\ No newline at end of file
diff --git a/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.png b/structmrs__lib_1_1JLKF_1_1inverse__exception__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ca84afdc229c6c35e65fd23897b7c4924582cdc
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+  <div class="headertitle">
+<div class="title">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>measurement_jumped</b> (defined in <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>nis_buffer</b> (defined in <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(statecov_t other) (defined in <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a876ae3c9d4dafac63ddd0723fe351874">P</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>stamp</b> (defined in <a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#a78cb90ec0a35a04f7f4abe69847979ec">x</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by
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diff --git a/structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html b/structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html
new file mode 100644
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--- /dev/null
+++ b/structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html
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+<title>mrs_lib: mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t Struct Reference</title>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="doc-content">
+<!-- window showing the filter options -->
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Helper struct for passing around the state and its covariance in one variable.  
+ <a href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="kalman__filter__aloamgarm_8h_source.html">kalman_filter_aloamgarm.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (<a class="el" href="structmrs__lib_1_1KalmanFilterAloamGarm_1_1statecov__t.html">statecov_t</a> other)</td></tr>
+<tr class="separator:a9f859ca07487925676bfb3015501b113"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+struct mrs_lib::KalmanFilterAloamGarm&lt; n_states, n_inputs, n_measurements &gt;::statecov_t</h3>
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+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1KalmanFilter_1_1statecov__t-members.html">List of all members</a>  </div>
+  <div class="headertitle">
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+<div class="contents">
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+<p>Helper struct for passing around the state and its covariance in one variable.  
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+
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+    <li class="footer">Generated by
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1LKF_1_1inverse__exception-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This exception is thrown when taking the inverse of a matrix fails.  
+ <a href="structmrs__lib_1_1LKF_1_1inverse__exception.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="lkf_8h_source.html">lkf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a44d325f6cd975003b995d33bd78948ac"><td class="memItemLeft" align="right" valign="top">const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1LKF_1_1inverse__exception.html#a44d325f6cd975003b995d33bd78948ac">what</a> () const  throw ()</td></tr>
+<tr class="memdesc:a44d325f6cd975003b995d33bd78948ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the error message, describing what caused the exception.  <a href="structmrs__lib_1_1LKF_1_1inverse__exception.html#a44d325f6cd975003b995d33bd78948ac">More...</a><br /></td></tr>
+<tr class="separator:a44d325f6cd975003b995d33bd78948ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+struct mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</h3>
+
+<p>This exception is thrown when taking the inverse of a matrix fails. </p>
+<p>You should catch this exception in your code and act accordingly if it appears (e.g. reset the state and covariance or modify the measurement/process noise parameters). </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a44d325f6cd975003b995d33bd78948ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a44d325f6cd975003b995d33bd78948ac">&#9670;&nbsp;</a></span>what()</h2>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const char* <a class="el" href="classmrs__lib_1_1LKF.html">mrs_lib::LKF</a>&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception::what </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+        <tr>
+          <td align="right">throw </td><td>(</td><td colspan="2"></td>
+        </tr>
+        <tr>
+          <td align="right"></td><td>)</td><td></td><td></td>
+        </tr>
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+<p>Returns the error message, describing what caused the exception. </p>
+<dl class="section return"><dt>Returns</dt><dd>The error message, describing what caused the exception. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="lkf_8h_source.html">lkf.h</a></li>
+</ul>
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+    <li class="footer">Generated by
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+  </ul>
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HcmV?d00001

diff --git a/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.map b/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.map
new file mode 100644
index 00000000..a6801f04
--- /dev/null
+++ b/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception" name="mrs_lib::LKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception">
+<area shape="rect" id="node1" title="This exception is thrown when taking the inverse of a matrix fails." alt="" coords="5,80,208,136"/>
+<area shape="rect" id="node2" title=" " alt="" coords="63,5,150,32"/>
+</map>
diff --git a/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.md5 b/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.md5
new file mode 100644
index 00000000..eb8b663f
--- /dev/null
+++ b/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.md5
@@ -0,0 +1 @@
+bf1002a01e68d538b0e505425328c540
\ No newline at end of file
diff --git a/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.png b/structmrs__lib_1_1LKF_1_1inverse__exception__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8e51f42136559c4cc823455c48727f184953e60
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+   <div id="projectname">mrs_lib
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+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle">
+<div class="title">mrs_lib::Polygon::ExtraVertices Struct Reference</div>  </div>
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diff --git a/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.map b/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.map
new file mode 100644
index 00000000..9d97e3bf
--- /dev/null
+++ b/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node1" title=" " alt="" coords="5,80,229,107"/>
+<area shape="rect" id="node2" title=" " alt="" coords="74,5,161,32"/>
+</map>
diff --git a/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.md5 b/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.md5
new file mode 100644
index 00000000..acd456f2
--- /dev/null
+++ b/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.png b/structmrs__lib_1_1Polygon_1_1ExtraVertices__inherit__graph.png
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <ul>
+    <li class="footer">Generated by
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diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns.html b/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   </div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::Polygon::WrongNumberOfColumns Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.map b/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.map
new file mode 100644
index 00000000..0e9ea29b
--- /dev/null
+++ b/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::Polygon::WrongNumberOfColumns" name="mrs_lib::Polygon::WrongNumberOfColumns">
+<area shape="rect" id="node1" title=" " alt="" coords="5,80,237,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="78,5,165,32"/>
+</map>
diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.md5 b/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.md5
new file mode 100644
index 00000000..ebbce641
--- /dev/null
+++ b/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.png b/structmrs__lib_1_1Polygon_1_1WrongNumberOfColumns__inherit__graph.png
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+  <div class="headertitle">
+<div class="title">mrs_lib::Polygon::WrongNumberOfVertices Struct Reference</div>  </div>
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diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.map b/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.map
new file mode 100644
index 00000000..8a9e7b11
--- /dev/null
+++ b/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node1" title=" " alt="" coords="5,80,237,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="78,5,165,32"/>
+</map>
diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.md5 b/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.md5
new file mode 100644
index 00000000..951e3807
--- /dev/null
+++ b/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.png b/structmrs__lib_1_1Polygon_1_1WrongNumberOfVertices__inherit__graph.png
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1SafetyZone_1_1BorderError.html">mrs_lib::SafetyZone::BorderError</a>, including all inherited members.</p>
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<title>mrs_lib: mrs_lib::SafetyZone::BorderError Struct Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1SafetyZone_1_1BorderError-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::SafetyZone::BorderError Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
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+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/safety_zone/<a class="el" href="safety__zone_8h_source.html">safety_zone.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1SafetyZone.html">SafetyZone</a></li><li class="navelem"><a class="el" href="structmrs__lib_1_1SafetyZone_1_1BorderError.html">BorderError</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+var structmrs__lib_1_1SafetyZone_1_1BorderError =
+[
+    [ "what", "structmrs__lib_1_1SafetyZone_1_1BorderError.html#ae29f05e234116edb0c1bc4af26466144", null ]
+];
\ No newline at end of file
diff --git a/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.map b/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.map
new file mode 100644
index 00000000..53a283d6
--- /dev/null
+++ b/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::SafetyZone::BorderError" name="mrs_lib::SafetyZone::BorderError">
+<area shape="rect" id="node1" title=" " alt="" coords="5,80,159,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="39,5,125,32"/>
+</map>
diff --git a/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.md5 b/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.md5
new file mode 100644
index 00000000..49ad9e46
--- /dev/null
+++ b/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.md5
@@ -0,0 +1 @@
+701d5c80a0512af9b062ab70d3744008
\ No newline at end of file
diff --git a/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.png b/structmrs__lib_1_1SafetyZone_1_1BorderError__coll__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdc0dd261bb55629a950de604fcb08225bfcb0d9
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diff --git a/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.map b/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.map
new file mode 100644
index 00000000..53a283d6
--- /dev/null
+++ b/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::SafetyZone::BorderError" name="mrs_lib::SafetyZone::BorderError">
+<area shape="rect" id="node1" title=" " alt="" coords="5,80,159,121"/>
+<area shape="rect" id="node2" title=" " alt="" coords="39,5,125,32"/>
+</map>
diff --git a/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.md5 b/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.md5
new file mode 100644
index 00000000..49ad9e46
--- /dev/null
+++ b/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.png b/structmrs__lib_1_1SafetyZone_1_1BorderError__inherit__graph.png
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+<div class="title">mrs_lib::ScopeTimer::time_point Member List</div>  </div>
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a>, including all inherited members.</p>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>chrono_time</b> (defined in <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>chrono_tp</b> typedef (defined in <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>label</b> (defined in <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>ros_time</b> (defined in <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>time_point</b>(const std::string &amp;label) (defined in <a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1ScopeTimer_1_1time__point.html">mrs_lib::ScopeTimer::time_point</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aab7865b63b3dd44b61dba06c54f981c8">autostart</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">nh</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">node_name</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">queue_size</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>SubscribeHandlerOptions</b>(const ros::NodeHandle &amp;nh) (defined in <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>SubscribeHandlerOptions</b>()=default (defined in <a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511">threadsafe</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">timeout_callback</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></td><td class="entry"></td></tr>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1SubscribeHandlerOptions-members.html">List of all members</a>  </div>
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+<p>A helper class to simplify setup of <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> construction. This class is passed to the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> constructor and specifies its common options.  
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+uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">queue_size</a> = 3</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A helper class to simplify setup of <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> construction. This class is passed to the <a class="el" href="classmrs__lib_1_1SubscribeHandler.html" title="The main class for ROS topic subscription, message timeout handling etc.">SubscribeHandler</a> constructor and specifies its common options. </p>
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+    [ "threadsafe", "structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511", null ],
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+    [ "timeout_manager", "structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e", null ],
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+</div><!--header-->
+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</a>, including all inherited members.</p>
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+</table></div><!-- contents -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+<title>mrs_lib: mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception Struct Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1UKF_1_1inverse__exception-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception Struct Reference</div>  </div>
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+<div class="contents">
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+<p>is thrown when taking the inverse of a matrix fails during kalman gain calculation  
+ <a href="structmrs__lib_1_1UKF_1_1inverse__exception.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="ukf_8h_source.html">ukf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception:</div>
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+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception:</div>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+struct mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</h3>
+
+<p>is thrown when taking the inverse of a matrix fails during kalman gain calculation </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="ukf_8h_source.html">ukf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1UKF.html">UKF</a></li><li class="navelem"><a class="el" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">inverse_exception</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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diff --git a/structmrs__lib_1_1UKF_1_1inverse__exception.js b/structmrs__lib_1_1UKF_1_1inverse__exception.js
new file mode 100644
index 00000000..ad655115
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1inverse__exception.js
@@ -0,0 +1,4 @@
+var structmrs__lib_1_1UKF_1_1inverse__exception =
+[
+    [ "what", "structmrs__lib_1_1UKF_1_1inverse__exception.html#a30f40124b1988fec5273fa1a0c3bfc7c", null ]
+];
\ No newline at end of file
diff --git a/structmrs__lib_1_1UKF_1_1inverse__exception__coll__graph.map b/structmrs__lib_1_1UKF_1_1inverse__exception__coll__graph.map
new file mode 100644
index 00000000..6a27a327
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1inverse__exception__coll__graph.map
@@ -0,0 +1,4 @@
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+</map>
diff --git a/structmrs__lib_1_1UKF_1_1inverse__exception__coll__graph.md5 b/structmrs__lib_1_1UKF_1_1inverse__exception__coll__graph.md5
new file mode 100644
index 00000000..d5c792c6
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1inverse__exception__coll__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 100644
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diff --git a/structmrs__lib_1_1UKF_1_1inverse__exception__inherit__graph.map b/structmrs__lib_1_1UKF_1_1inverse__exception__inherit__graph.map
new file mode 100644
index 00000000..6a27a327
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1inverse__exception__inherit__graph.map
@@ -0,0 +1,4 @@
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diff --git a/structmrs__lib_1_1UKF_1_1inverse__exception__inherit__graph.md5 b/structmrs__lib_1_1UKF_1_1inverse__exception__inherit__graph.md5
new file mode 100644
index 00000000..d5c792c6
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1UKF_1_1square__root__exception-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>is thrown when taking the square root of a matrix fails during sigma generation  
+ <a href="structmrs__lib_1_1UKF_1_1square__root__exception.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="ukf_8h_source.html">ukf.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1UKF_1_1square__root__exception__inherit__graph.png" border="0" usemap="#mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1square__root__exception_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1square__root__exception_inherit__map" id="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1square__root__exception_inherit__map">
+<area shape="rect" title="is thrown when taking the square root of a matrix fails during sigma generation" alt="" coords="5,80,208,136"/>
+<area shape="rect" title=" " alt="" coords="63,5,150,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.png" border="0" usemap="#mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1square__root__exception_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1square__root__exception_coll__map" id="mrs__lib_1_1UKF_3_01n__states_00_01n__inputs_00_01n__measurements_01_4_1_1square__root__exception_coll__map">
+<area shape="rect" title="is thrown when taking the square root of a matrix fails during sigma generation" alt="" coords="5,80,208,136"/>
+<area shape="rect" title=" " alt="" coords="63,5,150,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9da9699dedf5b959651141b9057ec5ec"><td class="memItemLeft" align="right" valign="top"><a id="a9da9699dedf5b959651141b9057ec5ec"></a>
+const char *&#160;</td><td class="memItemRight" valign="bottom"><b>what</b> () const  throw ()</td></tr>
+<tr class="separator:a9da9699dedf5b959651141b9057ec5ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;int n_states, int n_inputs, int n_measurements&gt;<br />
+struct mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception</h3>
+
+<p>is thrown when taking the square root of a matrix fails during sigma generation </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="ukf_8h_source.html">ukf.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><a class="el" href="classmrs__lib_1_1UKF.html">UKF</a></li><li class="navelem"><a class="el" href="structmrs__lib_1_1UKF_1_1square__root__exception.html">square_root_exception</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/structmrs__lib_1_1UKF_1_1square__root__exception.js b/structmrs__lib_1_1UKF_1_1square__root__exception.js
new file mode 100644
index 00000000..2b214c4d
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1square__root__exception.js
@@ -0,0 +1,4 @@
+var structmrs__lib_1_1UKF_1_1square__root__exception =
+[
+    [ "what", "structmrs__lib_1_1UKF_1_1square__root__exception.html#a9da9699dedf5b959651141b9057ec5ec", null ]
+];
\ No newline at end of file
diff --git a/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.map b/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.map
new file mode 100644
index 00000000..6765d134
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception" name="mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception">
+<area shape="rect" id="node1" title="is thrown when taking the square root of a matrix fails during sigma generation" alt="" coords="5,80,208,136"/>
+<area shape="rect" id="node2" title=" " alt="" coords="63,5,150,32"/>
+</map>
diff --git a/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.md5 b/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.md5
new file mode 100644
index 00000000..b148d83d
--- /dev/null
+++ b/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.md5
@@ -0,0 +1 @@
+9d7f67109196bcfd3d9a2ae491312983
\ No newline at end of file
diff --git a/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.png b/structmrs__lib_1_1UKF_1_1square__root__exception__coll__graph.png
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<title>mrs_lib: mrs_lib::eigenvector_exception Struct Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structmrs__lib_1_1eigenvector__exception-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::eigenvector_exception Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices.  
+ <a href="structmrs__lib_1_1eigenvector__exception.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="rheiv_8h_source.html">rheiv.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::eigenvector_exception:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1eigenvector__exception__inherit__graph.png" border="0" usemap="#mrs__lib_1_1eigenvector__exception_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1eigenvector__exception_inherit__map" id="mrs__lib_1_1eigenvector__exception_inherit__map">
+<area shape="rect" title="This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrice..." alt="" coords="5,80,160,121"/>
+<area shape="rect" title=" " alt="" coords="39,5,126,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::eigenvector_exception:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1eigenvector__exception__coll__graph.png" border="0" usemap="#mrs__lib_1_1eigenvector__exception_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrice..." alt="" coords="5,80,160,121"/>
+<area shape="rect" title=" " alt="" coords="39,5,126,32"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab825ec32cb055c8c0b3b8b59125e90b5"><td class="memItemLeft" align="right" valign="top">virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">what</a> () const override  throw ()</td></tr>
+<tr class="memdesc:ab825ec32cb055c8c0b3b8b59125e90b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the error message, describing what caused the exception.  <a href="structmrs__lib_1_1eigenvector__exception.html#ab825ec32cb055c8c0b3b8b59125e90b5">More...</a><br /></td></tr>
+<tr class="separator:ab825ec32cb055c8c0b3b8b59125e90b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This exception may be thrown when solving the generalized eigenvalue problem with the M and N matrices. </p>
+<p>You should catch this exception in your code and act accordingly if it appears (e.g. ask for the last valid parameter estimate). </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="rheiv_2example_8cpp-example.html#_a8">rheiv/example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab825ec32cb055c8c0b3b8b59125e90b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab825ec32cb055c8c0b3b8b59125e90b5">&#9670;&nbsp;</a></span>what()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual const char* mrs_lib::eigenvector_exception::what </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+        <tr>
+          <td align="right">throw </td><td>(</td><td colspan="2"></td>
+        </tr>
+        <tr>
+          <td align="right"></td><td>)</td><td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the error message, describing what caused the exception. </p>
+<dl class="section return"><dt>Returns</dt><dd>The error message, describing what caused the exception. </dd></dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="rheiv_2example_8cpp-example.html#a9">rheiv/example.cpp</a>.</dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/<a class="el" href="rheiv_8h_source.html">rheiv.h</a></li>
+</ul>
+</div><!-- contents -->
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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diff --git a/structmrs__lib_1_1eigenvector__exception.js b/structmrs__lib_1_1eigenvector__exception.js
new file mode 100644
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+var structmrs__lib_1_1eigenvector__exception =
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new file mode 100644
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--- /dev/null
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new file mode 100644
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::geometry::cyclic&lt; flt, spec &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>(const cyclic &amp;what)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>()</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(const flt val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(const spec &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(const flt minuend, const flt subtrahend)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>diff</b>(const cyclic minuend, const cyclic subtrahend) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(const flt from, const flt to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(const flt val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(const flt from, const flt to, const flt coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interp</b>(const cyclic from, const cyclic to, const flt coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(const flt from, const flt to, const flt coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interpUnwrapped</b>(const cyclic from, const cyclic to, const flt coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7">operator+</a>(const cyclic &amp;lhs, const cyclic &amp;rhs)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794">operator-</a>(const cyclic &amp;lhs, const cyclic &amp;rhs)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">friend</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(const flt nval)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a>(cyclic &amp;&amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(const flt from, const flt to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pdist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(const flt from, const flt to, const flt coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterp</b>(const cyclic from, const cyclic to, const flt coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(const flt from, const flt to, const flt coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterpUnwrapped</b>(const cyclic from, const cyclic to, const flt coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(const flt what, const flt from)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>val</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(const flt val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; flt, spec &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/structmrs__lib_1_1geometry_1_1cyclic.html b/structmrs__lib_1_1geometry_1_1cyclic.html
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#friends">Friends</a> &#124;
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+<div class="title">mrs_lib::geometry::cyclic&lt; flt, spec &gt; Struct Template Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Implementation of the a general cyclic value (such as angles in radians/degrees etc).  
+ <a href="structmrs__lib_1_1geometry_1_1cyclic.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="cyclic_8h_source.html">cyclic.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab366578641265f73655d1edc023cc2c7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a> ()</td></tr>
+<tr class="memdesc:ab366578641265f73655d1edc023cc2c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">More...</a><br /></td></tr>
+<tr class="separator:ab366578641265f73655d1edc023cc2c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0cfbde43f9fa6a3f26f1e4cf8184d30"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a> (const flt val)</td></tr>
+<tr class="memdesc:ae0cfbde43f9fa6a3f26f1e4cf8184d30"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor overload.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">More...</a><br /></td></tr>
+<tr class="separator:ae0cfbde43f9fa6a3f26f1e4cf8184d30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca52b4d47969ec56057b8217f201ab9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a9ca52b4d47969ec56057b8217f201ab9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">More...</a><br /></td></tr>
+<tr class="separator:a9ca52b4d47969ec56057b8217f201ab9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad40f88cb0dab7a684335f3403a9df7b0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a> (const spec &amp;other)</td></tr>
+<tr class="memdesc:ad40f88cb0dab7a684335f3403a9df7b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">More...</a><br /></td></tr>
+<tr class="separator:ad40f88cb0dab7a684335f3403a9df7b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a064a156dd856871bf1b4acf22cba78e3"><td class="memItemLeft" align="right" valign="top">flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a> () const</td></tr>
+<tr class="memdesc:a064a156dd856871bf1b4acf22cba78e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for <code>val</code>.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">More...</a><br /></td></tr>
+<tr class="separator:a064a156dd856871bf1b4acf22cba78e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58"><td class="memTemplParams" colspan="2">template&lt;class other_t &gt; </td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58"><td class="memTemplItemLeft" align="right" valign="top">other_t&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a> () const</td></tr>
+<tr class="memdesc:aa86da042144ee34330e4cef57b410f58"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">More...</a><br /></td></tr>
+<tr class="separator:aa86da042144ee34330e4cef57b410f58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ff6b499102b0eb290b6d121284c51ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a> (const flt nval)</td></tr>
+<tr class="memdesc:a1ff6b499102b0eb290b6d121284c51ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">More...</a><br /></td></tr>
+<tr class="separator:a1ff6b499102b0eb290b6d121284c51ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace7e2ff831cf60311e28a70035114bcd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ace7e2ff831cf60311e28a70035114bcd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">More...</a><br /></td></tr>
+<tr class="separator:ace7e2ff831cf60311e28a70035114bcd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c81dca050a406b4225e8816a1955fb2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a> (<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a8c81dca050a406b4225e8816a1955fb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">More...</a><br /></td></tr>
+<tr class="separator:a8c81dca050a406b4225e8816a1955fb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d797e1245025227ede866ab08bcc19f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a0d797e1245025227ede866ab08bcc19f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">More...</a><br /></td></tr>
+<tr class="separator:a0d797e1245025227ede866ab08bcc19f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad45609e5fa890a79729b100231e427da"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ad45609e5fa890a79729b100231e427da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">More...</a><br /></td></tr>
+<tr class="separator:ad45609e5fa890a79729b100231e427da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ae7ff9988f0d3ef6cf3bd724f3e29273b"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a> (const flt val)</td></tr>
+<tr class="memdesc:ae7ff9988f0d3ef6cf3bd724f3e29273b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if <code>val</code> is within the valid interval of wrapped values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">More...</a><br /></td></tr>
+<tr class="separator:ae7ff9988f0d3ef6cf3bd724f3e29273b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada5b55bcb4a01898fd9fdd9c393efd95"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a> (const flt val)</td></tr>
+<tr class="memdesc:ada5b55bcb4a01898fd9fdd9c393efd95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns <code>val</code>, converted to the valid interval of values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">More...</a><br /></td></tr>
+<tr class="separator:ada5b55bcb4a01898fd9fdd9c393efd95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21d98e561a2d296e1d64b38a74883902"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a> (const flt what, const flt from)</td></tr>
+<tr class="memdesc:a21d98e561a2d296e1d64b38a74883902"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns value of the parameter <code>what</code> modified so that there is no "jump" between <code>from</code> and \t what.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">More...</a><br /></td></tr>
+<tr class="separator:a21d98e561a2d296e1d64b38a74883902"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51db20b50daabf98afae8bd77e3a3ac4"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a> (const flt from, const flt to)</td></tr>
+<tr class="memdesc:a51db20b50daabf98afae8bd77e3a3ac4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns length of the shortest walk in the positive direction from the first parameter to the second one.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">More...</a><br /></td></tr>
+<tr class="separator:a51db20b50daabf98afae8bd77e3a3ac4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a974285ad270bdbc7e09079c8c8017d9e"><td class="memItemLeft" align="right" valign="top"><a id="a974285ad270bdbc7e09079c8c8017d9e"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>pdist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a974285ad270bdbc7e09079c8c8017d9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa5b1c6f8e1ab47b374f10a1a96de910b"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a> (const flt minuend, const flt subtrahend)</td></tr>
+<tr class="memdesc:aa5b1c6f8e1ab47b374f10a1a96de910b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the difference between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">More...</a><br /></td></tr>
+<tr class="separator:aa5b1c6f8e1ab47b374f10a1a96de910b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af03272e29206d48f17e2dcb1595db342"><td class="memItemLeft" align="right" valign="top"><a id="af03272e29206d48f17e2dcb1595db342"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>diff</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> minuend, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> subtrahend)</td></tr>
+<tr class="separator:af03272e29206d48f17e2dcb1595db342"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9eb4b1ce4c4307d6bed9642bbf52133e"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a> (const flt from, const flt to)</td></tr>
+<tr class="memdesc:a9eb4b1ce4c4307d6bed9642bbf52133e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the distance between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">More...</a><br /></td></tr>
+<tr class="separator:a9eb4b1ce4c4307d6bed9642bbf52133e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d7bcb2d5f9435de7fe1bf72ed631d89"><td class="memItemLeft" align="right" valign="top"><a id="a7d7bcb2d5f9435de7fe1bf72ed631d89"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>dist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a7d7bcb2d5f9435de7fe1bf72ed631d89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c2837eea4d0635833a786d571922d76"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a> (const flt from, const flt to, const flt coeff)</td></tr>
+<tr class="memdesc:a1c2837eea4d0635833a786d571922d76"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">More...</a><br /></td></tr>
+<tr class="separator:a1c2837eea4d0635833a786d571922d76"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a55b71fcfef8bb7df80ad15d5f71d55"><td class="memItemLeft" align="right" valign="top"><a id="a8a55b71fcfef8bb7df80ad15d5f71d55"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>interpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const flt coeff)</td></tr>
+<tr class="separator:a8a55b71fcfef8bb7df80ad15d5f71d55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe8344d8017f4ed883ecc28379465d99"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a> (const flt from, const flt to, const flt coeff)</td></tr>
+<tr class="memdesc:afe8344d8017f4ed883ecc28379465d99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">More...</a><br /></td></tr>
+<tr class="separator:afe8344d8017f4ed883ecc28379465d99"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca01a157ad162dd1939001198a0f8801"><td class="memItemLeft" align="right" valign="top"><a id="aca01a157ad162dd1939001198a0f8801"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>interp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const flt coeff)</td></tr>
+<tr class="separator:aca01a157ad162dd1939001198a0f8801"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9809504c23cb0854df0b4ceb95f426"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a> (const flt from, const flt to, const flt coeff)</td></tr>
+<tr class="memdesc:a0d9809504c23cb0854df0b4ceb95f426"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">More...</a><br /></td></tr>
+<tr class="separator:a0d9809504c23cb0854df0b4ceb95f426"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abaa58e9a2ed165077d1cf4840ca5619c"><td class="memItemLeft" align="right" valign="top"><a id="abaa58e9a2ed165077d1cf4840ca5619c"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>pinterpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const flt coeff)</td></tr>
+<tr class="separator:abaa58e9a2ed165077d1cf4840ca5619c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b314c2ffd8a73a5a944bcdb751fdeac"><td class="memItemLeft" align="right" valign="top">static flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a> (const flt from, const flt to, const flt coeff)</td></tr>
+<tr class="memdesc:a9b314c2ffd8a73a5a944bcdb751fdeac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">More...</a><br /></td></tr>
+<tr class="separator:a9b314c2ffd8a73a5a944bcdb751fdeac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2628bad48f773b940dcafff0ba89af7"><td class="memItemLeft" align="right" valign="top"><a id="af2628bad48f773b940dcafff0ba89af7"></a>
+static flt&#160;</td><td class="memItemRight" valign="bottom"><b>pinterp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const flt coeff)</td></tr>
+<tr class="separator:af2628bad48f773b940dcafff0ba89af7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f"><td class="memTemplParams" colspan="2">template&lt;class other_t &gt; </td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f"><td class="memTemplItemLeft" align="right" valign="top">static other_t&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;what)</td></tr>
+<tr class="memdesc:a872202b166f48d3759cd58cc57242f5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">More...</a><br /></td></tr>
+<tr class="separator:a872202b166f48d3759cd58cc57242f5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ada8bf8d17bfa81025b75d5a4e1da8ac0"><td class="memItemLeft" align="right" valign="top"><a id="ada8bf8d17bfa81025b75d5a4e1da8ac0"></a>
+static constexpr flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a> = spec::minimum</td></tr>
+<tr class="memdesc:ada8bf8d17bfa81025b75d5a4e1da8ac0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum of the valid interval of wrapped values <img class="formulaInl" alt="$ m $" src="form_16.png"/>. <br /></td></tr>
+<tr class="separator:ada8bf8d17bfa81025b75d5a4e1da8ac0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf3f559f3099bf6002a8f1331df42142"><td class="memItemLeft" align="right" valign="top"><a id="adf3f559f3099bf6002a8f1331df42142"></a>
+static constexpr flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a> = spec::supremum</td></tr>
+<tr class="memdesc:adf3f559f3099bf6002a8f1331df42142"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supremum of the valid interval of wrapped values <img class="formulaInl" alt="$ s $" src="form_17.png"/>. <br /></td></tr>
+<tr class="separator:adf3f559f3099bf6002a8f1331df42142"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a406dfc057fd17b5935add5a7bf9fe325"><td class="memItemLeft" align="right" valign="top">static constexpr flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td></tr>
+<tr class="memdesc:a406dfc057fd17b5935add5a7bf9fe325"><td class="mdescLeft">&#160;</td><td class="mdescRight">Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity).  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">More...</a><br /></td></tr>
+<tr class="separator:a406dfc057fd17b5935add5a7bf9fe325"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78cd52e438886de479af6455e97da2b6"><td class="memItemLeft" align="right" valign="top">static constexpr flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td></tr>
+<tr class="memdesc:a78cd52e438886de479af6455e97da2b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations).  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">More...</a><br /></td></tr>
+<tr class="separator:a78cd52e438886de479af6455e97da2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a94f9db20b89133f33a4c7117a8224a0b"><td class="memItemLeft" align="right" valign="top"><a id="a94f9db20b89133f33a4c7117a8224a0b"></a>
+flt&#160;</td><td class="memItemRight" valign="bottom"><b>val</b></td></tr>
+<tr class="separator:a94f9db20b89133f33a4c7117a8224a0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
+Friends</h2></td></tr>
+<tr class="memitem:a58ca734b0e19c5f25da90761303451b7"><td class="memItemLeft" align="right" valign="top">spec&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7">operator+</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;lhs, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;rhs)</td></tr>
+<tr class="memdesc:a58ca734b0e19c5f25da90761303451b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7">More...</a><br /></td></tr>
+<tr class="separator:a58ca734b0e19c5f25da90761303451b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d401b110dd9e5372ffa4951f073e794"><td class="memItemLeft" align="right" valign="top">flt&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794">operator-</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;lhs, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;rhs)</td></tr>
+<tr class="memdesc:a9d401b110dd9e5372ffa4951f073e794"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction operator (uses the <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b" title="Returns the difference between the two circular values.">diff()</a> method).  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794">More...</a><br /></td></tr>
+<tr class="separator:a9d401b110dd9e5372ffa4951f073e794"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;typename flt, class spec&gt;<br />
+struct mrs_lib::geometry::cyclic&lt; flt, spec &gt;</h3>
+
+<p>Implementation of the a general cyclic value (such as angles in radians/degrees etc). </p>
+<p>This class implements a periodical value with a period of <img class="formulaInl" alt="$ r \in {\rm I\!R} $" src="form_11.png"/> so that a general number <img class="formulaInl" alt="$ v \in {\rm I\!R} $" src="form_12.png"/> represents the same value as <img class="formulaInl" alt="$ v + kr,~k \in {\rm I\!N} $" src="form_13.png"/>. For the purposes of calculations in this class, <img class="formulaInl" alt="$ v $" src="form_14.png"/> is confined to a half-open interval <img class="formulaInl" alt="$ v \in [~m,~s~[ $" src="form_15.png"/>, where <img class="formulaInl" alt="$ m $" src="form_16.png"/> is the minimum of this interval and <img class="formulaInl" alt="$ s $" src="form_17.png"/> is its supremum, and <img class="formulaInl" alt="$ s = m + r $" src="form_18.png"/> holds. This approach enables representing <img class="formulaInl" alt="$ v $" src="form_14.png"/> in different intervals on the real numbers axis; eg. angle in radians may be represented within the interval <img class="formulaInl" alt="$ v \in [~-\pi,~\pi~[ $" src="form_19.png"/> or <img class="formulaInl" alt="$ v \in [~0,~2\pi~[ $" src="form_20.png"/>, according to the needs of the specific application. The period <img class="formulaInl" alt="$ r $" src="form_21.png"/> is called <code>range</code> for the purposes of this class, as it represents range of the interval of valid ("wrapped") values of <img class="formulaInl" alt="$ v $" src="form_14.png"/>.</p>
+<p>This class may be used as an object or its static methods may be used on regular floating-point types, avoiding any object-related overheads (see example). Specializations for the most common cyclic values are provided and a new specialization may be easily created simply by inheriting from this class and specifying a different minimum and supremum values.</p>
+<p>Implementation inspired by: <a href="https://www.codeproject.com/Articles/190833/Circular-Values-Math-and-Statistics-with-Cplusplus">https://www.codeproject.com/Articles/190833/Circular-Values-Math-and-Statistics-with-Cplusplus</a></p>
+<dl class="section note"><dt>Note</dt><dd>For a better intuitive understanding of the used functions, the term <b>walk</b> is sometimes used in the function explanations. You can imagine walking along the circle from one angle to another (represented by the circular quantities). The walk may be the shortest - then you're walking in such a manner that you reach the other point in the least of steps. The walk may also be oriented - then you're walking in a specific direction (ie. according to the increasing/decreasing angle). </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>The terms <b>circular quantity</b> and <b>value</b> are used in the function explanations. A circular quantity is eg. an angle and the same quantity may be represented using different values: the same angle is represented by the values of 100 degrees and 460 degrees.</dd></dl>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">flt</td><td>floating data type to be used by this class. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="geometry_2cyclic_example_8cpp-example.html#_a1">geometry/cyclic_example.cpp</a>.</dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ab366578641265f73655d1edc023cc2c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab366578641265f73655d1edc023cc2c7">&#9670;&nbsp;</a></span>cyclic() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Default constructor. </p>
+<p>Sets the value to the minimum. </p>
+
+</div>
+</div>
+<a id="ae0cfbde43f9fa6a3f26f1e4cf8184d30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0cfbde43f9fa6a3f26f1e4cf8184d30">&#9670;&nbsp;</a></span>cyclic() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor overload. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>initialization value (will be wrapped). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a9ca52b4d47969ec56057b8217f201ab9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ca52b4d47969ec56057b8217f201ab9">&#9670;&nbsp;</a></span>cyclic() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Copy constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>initialization value. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad40f88cb0dab7a684335f3403a9df7b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad40f88cb0dab7a684335f3403a9df7b0">&#9670;&nbsp;</a></span>cyclic() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> </td>
+          <td>(</td>
+          <td class="paramtype">const spec &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Copy constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>initialization value. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa86da042144ee34330e4cef57b410f58"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa86da042144ee34330e4cef57b410f58">&#9670;&nbsp;</a></span>convert() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<div class="memtemplate">
+template&lt;class other_t &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">other_t <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::convert </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Conversion between two different circular quantities. </p>
+<p>This method returns the circular quantity, represented by this object, converted to the <code>other_t</code> type of circular quantity.</p>
+<dl class="section return"><dt>Returns</dt><dd>the circular quantity converted to the range of <code>other_t</code>. </dd></dl>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">other_t</td><td>type of the circular quantity to be converted to.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section warning"><dt>Warning</dt><dd>For the purposes of this function, it is assumed that the range of one type corresponds to the whole range of the other type and zeros of both types correspond to each other (such as when converting eg. degrees to radians). </dd></dl>
+
+</div>
+</div>
+<a id="a872202b166f48d3759cd58cc57242f5f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a872202b166f48d3759cd58cc57242f5f">&#9670;&nbsp;</a></span>convert() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<div class="memtemplate">
+template&lt;class other_t &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static other_t <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::convert </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>what</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Conversion between two different circular quantities. </p>
+<p>This function converts its parameter, interpreted as the circular quantity, represented by this class, to the <code>other_t</code> type of circular quantity.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">what</td><td>the circular quantity to be converted. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the circular quantity converted to the range of <code>other_t</code>. </dd></dl>
+<dl class="tparams"><dt>Template Parameters</dt><dd>
+  <table class="tparams">
+    <tr><td class="paramname">other_t</td><td>type of the circular quantity to be converted to.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section warning"><dt>Warning</dt><dd>For the purposes of this function, it is assumed that the range of one type corresponds to the whole range of the other type and zeros of both types correspond to each other (such as when converting eg. degrees to radians). </dd></dl>
+
+</div>
+</div>
+<a id="aa5b1c6f8e1ab47b374f10a1a96de910b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5b1c6f8e1ab47b374f10a1a96de910b">&#9670;&nbsp;</a></span>diff()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::diff </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>minuend</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>subtrahend</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the difference between the two circular values. </p>
+<p>The difference may also be interpreted as length of the shortest walk between the two values, with a sign according to the direction of the shortest walk.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">minuend</td><td>the <code>subtrahend</code> will be subtracted from this value. </td></tr>
+    <tr><td class="paramname">subtrahend</td><td>this value will be subtracted from the <code>minuend</code>. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the difference of the two circular quantities. </dd></dl>
+
+</div>
+</div>
+<a id="a9eb4b1ce4c4307d6bed9642bbf52133e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9eb4b1ce4c4307d6bed9642bbf52133e">&#9670;&nbsp;</a></span>dist()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::dist </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>to</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns the distance between the two circular values. </p>
+<p>The distance may also be interpreted as length of the shortest walk between the two values.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from</td><td>the first circular quantity. </td></tr>
+    <tr><td class="paramname">to</td><td>the second circular quantity. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>distance of the two circular quantities.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>The order of the parameters doesn't matter. </dd></dl>
+
+</div>
+</div>
+<a id="ae7ff9988f0d3ef6cf3bd724f3e29273b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7ff9988f0d3ef6cf3bd724f3e29273b">&#9670;&nbsp;</a></span>inRange()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::inRange </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Checks if <code>val</code> is within the valid interval of wrapped values. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>the value to be checked. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if <code>val</code> is within the valid interval of wrapped values. </dd></dl>
+
+</div>
+</div>
+<a id="afe8344d8017f4ed883ecc28379465d99"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe8344d8017f4ed883ecc28379465d99">&#9670;&nbsp;</a></span>interp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::interp </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>to</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>coeff</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Interpolation between two circular quantities. </p>
+<p>This function wraps the returned value so that it is in the interval of valid values.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from</td><td>the first circular quantity. </td></tr>
+    <tr><td class="paramname">to</td><td>the second circular quantity. </td></tr>
+    <tr><td class="paramname">coeff</td><td>the interpolation coefficient. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>interpolation of the two circular quantities using the coefficient, wrapped to the interval of valid values. </dd></dl>
+
+</div>
+</div>
+<a id="a1c2837eea4d0635833a786d571922d76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c2837eea4d0635833a786d571922d76">&#9670;&nbsp;</a></span>interpUnwrapped()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::interpUnwrapped </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>to</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>coeff</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Interpolation between two circular quantities without wrapping of the result. </p>
+<p>This function doesn't wrap the returned value.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from</td><td>the first circular quantity. </td></tr>
+    <tr><td class="paramname">to</td><td>the second circular quantity. </td></tr>
+    <tr><td class="paramname">coeff</td><td>the interpolation coefficient. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>interpolation of the two circular quantities using the coefficient.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>Note that the returned value may be outside the valid interval of wrapped values, specified by the <code>minimum</code> and <code>supremum</code> parameters of this class. </dd></dl>
+
+</div>
+</div>
+<a id="a0d797e1245025227ede866ab08bcc19f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d797e1245025227ede866ab08bcc19f">&#9670;&nbsp;</a></span>operator+=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::operator+= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Addition compound operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>value to be added. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>reference to self. </dd></dl>
+
+</div>
+</div>
+<a id="ad45609e5fa890a79729b100231e427da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad45609e5fa890a79729b100231e427da">&#9670;&nbsp;</a></span>operator-=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::operator-= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Subtraction compound operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>value to be subtracted. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>reference to self. </dd></dl>
+
+</div>
+</div>
+<a id="ace7e2ff831cf60311e28a70035114bcd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace7e2ff831cf60311e28a70035114bcd">&#9670;&nbsp;</a></span>operator=() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Assignment operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>value to be assigned. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>reference to self. </dd></dl>
+
+</div>
+</div>
+<a id="a1ff6b499102b0eb290b6d121284c51ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ff6b499102b0eb290b6d121284c51ce">&#9670;&nbsp;</a></span>operator=() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>nval</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Assignment operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">nval</td><td>value to be assigned (will be wrapped). </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>reference to self. </dd></dl>
+
+</div>
+</div>
+<a id="a8c81dca050a406b4225e8816a1955fb2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8c81dca050a406b4225e8816a1955fb2">&#9670;&nbsp;</a></span>operator=() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&amp; <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::operator= </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Move operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">other</td><td>value to be assigned. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>reference to self. </dd></dl>
+
+</div>
+</div>
+<a id="a51db20b50daabf98afae8bd77e3a3ac4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51db20b50daabf98afae8bd77e3a3ac4">&#9670;&nbsp;</a></span>pdist()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::pdist </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>to</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns length of the shortest walk in the positive direction from the first parameter to the second one. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from</td><td>the positive walk starts at this value. </td></tr>
+    <tr><td class="paramname">to</td><td>the positive walk ends at this value. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>length of the shortest positive walk from the first parameter to the second one.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>The returned value is not necessarily the shortest distance between the two circular quantities (see the <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e" title="Returns the distance between the two circular values.">dist()</a> function for that). </dd></dl>
+
+</div>
+</div>
+<a id="a9b314c2ffd8a73a5a944bcdb751fdeac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b314c2ffd8a73a5a944bcdb751fdeac">&#9670;&nbsp;</a></span>pinterp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::pinterp </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>to</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>coeff</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Interpolation between two circular quantities in the positive direction. </p>
+<p>Interpolates the two values in the positive direction from the first parameter to the second by the coefficient. This function wraps the returned value so that it is in the interval of valid values.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from</td><td>the first circular quantity. </td></tr>
+    <tr><td class="paramname">to</td><td>the second circular quantity. </td></tr>
+    <tr><td class="paramname">coeff</td><td>the interpolation coefficient. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>interpolation of the two circular quantities using the coefficient, wrapped to the interval of valid values. </dd></dl>
+
+</div>
+</div>
+<a id="a0d9809504c23cb0854df0b4ceb95f426"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d9809504c23cb0854df0b4ceb95f426">&#9670;&nbsp;</a></span>pinterpUnwrapped()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::pinterpUnwrapped </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>to</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>coeff</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Interpolation between two circular quantities in the positive direction without wrapping of the result. </p>
+<p>Interpolates the two values in the positive direction from the first parameter to the second by the coefficient. This function doesn't wrap the returned value.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">from</td><td>the first circular quantity. </td></tr>
+    <tr><td class="paramname">to</td><td>the second circular quantity. </td></tr>
+    <tr><td class="paramname">coeff</td><td>the interpolation coefficient. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>interpolation of the two circular quantities using the coefficient.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>Note that the returned value may be outside the valid interval of wrapped values, specified by the <code>minimum</code> and <code>supremum</code> parameters of this class. </dd></dl>
+
+</div>
+</div>
+<a id="a21d98e561a2d296e1d64b38a74883902"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21d98e561a2d296e1d64b38a74883902">&#9670;&nbsp;</a></span>unwrap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::unwrap </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>what</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>from</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns value of the parameter <code>what</code> modified so that there is no "jump" between <code>from</code> and \t what. </p>
+<p>The circular difference between the two input quantities is preserved, but the returned value is modified if necessary so that the linear distance between the values is the smallest. This is useful whenever you need to preserve linear continuity of consecutive values, eg. when commanding a multi-rotational servo motor or when using a simple linear Kalman filter to estimate circular quantities.</p>
+<p>An example of inputs and outputs if <img class="formulaInl" alt="$ m = 0,~s=360 $" src="form_25.png"/>: </p><table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone"><code>what</code>  </th><th class="markdownTableHeadNone"><code>from</code>  </th><th class="markdownTableHeadNone"><code>return</code>   </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">20 </td><td class="markdownTableBodyNone">10 </td><td class="markdownTableBodyNone">20  </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">20 </td><td class="markdownTableBodyNone">350 </td><td class="markdownTableBodyNone">380  </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">0 </td><td class="markdownTableBodyNone">350 </td><td class="markdownTableBodyNone">360  </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">200 </td><td class="markdownTableBodyNone">10 </td><td class="markdownTableBodyNone">-160  </td></tr>
+</table>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">what</td><td>the value to be unwrapped. </td></tr>
+    <tr><td class="paramname">from</td><td>the previous value from which the unwrapped value of <code>what</code> should have the same circular difference and minimal linear distance. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the unwrapped value of <code>what</code>.</dd></dl>
+<dl class="section warning"><dt>Warning</dt><dd>Note that the returned value may be outside the valid interval of wrapped values, specified by the <code>minimum</code> and <code>supremum</code> parameters of this class. </dd></dl>
+
+</div>
+</div>
+<a id="a064a156dd856871bf1b4acf22cba78e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a064a156dd856871bf1b4acf22cba78e3">&#9670;&nbsp;</a></span>value()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::value </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Getter for <code>val</code>. </p>
+<dl class="section return"><dt>Returns</dt><dd>the value. </dd></dl>
+
+</div>
+</div>
+<a id="ada5b55bcb4a01898fd9fdd9c393efd95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada5b55bcb4a01898fd9fdd9c393efd95">&#9670;&nbsp;</a></span>wrap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::wrap </td>
+          <td>(</td>
+          <td class="paramtype">const flt&#160;</td>
+          <td class="paramname"><em>val</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Returns <code>val</code>, converted to the valid interval of values. </p>
+<p>The wrapped value represents the same quantity as the parameter (ie. <img class="formulaInl" alt="$ v' = v + kr $" src="form_23.png"/>, where <img class="formulaInl" alt="$ v $" src="form_14.png"/> is the parameter and <img class="formulaInl" alt="$ v' $" src="form_24.png"/> is the returned value).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">val</td><td>the value to be wrapped. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>val</code> wrapped to the valid interval of values. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Friends And Related Function Documentation</h2>
+<a id="a58ca734b0e19c5f25da90761303451b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58ca734b0e19c5f25da90761303451b7">&#9670;&nbsp;</a></span>operator+</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">spec operator+ </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lhs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Addition operator. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lhs</td><td>left-hand-side. </td></tr>
+    <tr><td class="paramname">rhs</td><td>right-hand-side. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the result of adding the two angles. </dd></dl>
+
+</div>
+</div>
+<a id="a9d401b110dd9e5372ffa4951f073e794"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d401b110dd9e5372ffa4951f073e794">&#9670;&nbsp;</a></span>operator-</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">flt operator- </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>lhs</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a>&lt; flt, spec &gt; &amp;&#160;</td>
+          <td class="paramname"><em>rhs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Subtraction operator (uses the <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b" title="Returns the difference between the two circular values.">diff()</a> method). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">lhs</td><td>left-hand-side. </td></tr>
+    <tr><td class="paramname">rhs</td><td>right-hand-side. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the result of subtracting rhs from lhs. </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a78cd52e438886de479af6455e97da2b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78cd52e438886de479af6455e97da2b6">&#9670;&nbsp;</a></span>half_range</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::half_range</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">          <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a> / flt(2)</div>
+</div><!-- fragment -->
+<p>Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations). </p>
+
+</div>
+</div>
+<a id="a406dfc057fd17b5935add5a7bf9fe325"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a406dfc057fd17b5935add5a7bf9fe325">&#9670;&nbsp;</a></span>range</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename flt , class spec &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr flt <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic</a>&lt; flt, spec &gt;::range</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">=</div>
+<div class="line">          <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a> - <a class="code" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></div>
+</div><!-- fragment -->
+<p>Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity). </p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="cyclic_8h_source.html">cyclic.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_adf3f559f3099bf6002a8f1331df42142"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">mrs_lib::geometry::cyclic::supremum</a></div><div class="ttdeci">static constexpr flt supremum</div><div class="ttdoc">Supremum of the valid interval of wrapped values .</div><div class="ttdef"><b>Definition:</b> cyclic.h:86</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_ada8bf8d17bfa81025b75d5a4e1da8ac0"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">mrs_lib::geometry::cyclic::minimum</a></div><div class="ttdeci">static constexpr flt minimum</div><div class="ttdoc">Minimum of the valid interval of wrapped values .</div><div class="ttdef"><b>Definition:</b> cyclic.h:85</div></div>
+<div class="ttc" id="astructmrs__lib_1_1geometry_1_1cyclic_html_a406dfc057fd17b5935add5a7bf9fe325"><div class="ttname"><a href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">mrs_lib::geometry::cyclic::range</a></div><div class="ttdeci">static constexpr flt range</div><div class="ttdoc">Range of the valid interval of wrapped values  (also the period of the cyclic quantity).</div><div class="ttdef"><b>Definition:</b> cyclic.h:87</div></div>
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
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new file mode 100644
index 00000000..46cdf527
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1cyclic.js
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+var structmrs__lib_1_1geometry_1_1cyclic =
+[
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+    [ "cyclic", "structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30", null ],
+    [ "cyclic", "structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9", null ],
+    [ "cyclic", "structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0", null ],
+    [ "convert", "structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58", null ],
+    [ "operator+=", "structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f", null ],
+    [ "operator-=", "structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da", null ],
+    [ "operator=", "structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd", null ],
+    [ "operator=", "structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce", null ],
+    [ "operator=", "structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2", null ],
+    [ "value", "structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3", null ],
+    [ "operator+", "structmrs__lib_1_1geometry_1_1cyclic.html#a58ca734b0e19c5f25da90761303451b7", null ],
+    [ "operator-", "structmrs__lib_1_1geometry_1_1cyclic.html#a9d401b110dd9e5372ffa4951f073e794", null ],
+    [ "val", "structmrs__lib_1_1geometry_1_1cyclic.html#a94f9db20b89133f33a4c7117a8224a0b", null ]
+];
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::degrees Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>(const cyclic &amp;what)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>()</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(const degrees &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(const double minuend, const double subtrahend)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>diff</b>(const cyclic minuend, const cyclic subtrahend) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>minimum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(const double nval)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a>(cyclic &amp;&amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pdist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>supremum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">mrs_lib::geometry::degrees</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(const double what, const double from)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>val</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/structmrs__lib_1_1geometry_1_1degrees.html b/structmrs__lib_1_1geometry_1_1degrees.html
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@@ -0,0 +1,260 @@
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1geometry_1_1degrees-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::degrees Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$).  
+ <a href="structmrs__lib_1_1geometry_1_1degrees.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="cyclic_8h_source.html">cyclic.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::geometry::degrees:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1degrees__inherit__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1degrees_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1degrees_inherit__map" id="mrs__lib_1_1geometry_1_1degrees_inherit__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$)." alt="" coords="28,95,176,136"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,199,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::geometry::degrees:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1degrees__coll__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1degrees_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1degrees_coll__map" id="mrs__lib_1_1geometry_1_1degrees_coll__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$)." alt="" coords="28,95,176,136"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,199,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ae606b752945a1e7c27af2262da11d581"><td class="memItemLeft" align="right" valign="top"><a id="ae606b752945a1e7c27af2262da11d581"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>minimum</b> = 0</td></tr>
+<tr class="separator:ae606b752945a1e7c27af2262da11d581"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac22d1dc165948a698f3633ec6a864c1e"><td class="memItemLeft" align="right" valign="top"><a id="ac22d1dc165948a698f3633ec6a864c1e"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>supremum</b> = 360</td></tr>
+<tr class="separator:ac22d1dc165948a698f3633ec6a864c1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td></tr>
+<tr class="memitem:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="ada8bf8d17bfa81025b75d5a4e1da8ac0"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></td></tr>
+<tr class="memdesc:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum of the valid interval of wrapped values <img class="formulaInl" alt="$ m $" src="form_16.png"/>. <br /></td></tr>
+<tr class="separator:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="adf3f559f3099bf6002a8f1331df42142"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a></td></tr>
+<tr class="memdesc:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supremum of the valid interval of wrapped values <img class="formulaInl" alt="$ s $" src="form_17.png"/>. <br /></td></tr>
+<tr class="separator:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a406dfc057fd17b5935add5a7bf9fe325"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td></tr>
+<tr class="memdesc:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity). <br /></td></tr>
+<tr class="separator:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a78cd52e438886de479af6455e97da2b6"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td></tr>
+<tr class="memdesc:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations). <br /></td></tr>
+<tr class="separator:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td></tr>
+<tr class="memitem:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a> ()</td></tr>
+<tr class="memdesc:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">More...</a><br /></td></tr>
+<tr class="separator:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a> (const double val)</td></tr>
+<tr class="memdesc:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor overload.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">More...</a><br /></td></tr>
+<tr class="separator:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">More...</a><br /></td></tr>
+<tr class="separator:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">degrees</a> &amp;other)</td></tr>
+<tr class="memdesc:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">More...</a><br /></td></tr>
+<tr class="separator:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a> () const</td></tr>
+<tr class="memdesc:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for <code>val</code>.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">More...</a><br /></td></tr>
+<tr class="separator:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a> () const</td></tr>
+<tr class="memdesc:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">More...</a><br /></td></tr>
+<tr class="separator:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a> (const double nval)</td></tr>
+<tr class="memdesc:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">More...</a><br /></td></tr>
+<tr class="separator:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">More...</a><br /></td></tr>
+<tr class="separator:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a> (<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">More...</a><br /></td></tr>
+<tr class="separator:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">More...</a><br /></td></tr>
+<tr class="separator:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">More...</a><br /></td></tr>
+<tr class="separator:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td></tr>
+<tr class="memitem:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a> (const double val)</td></tr>
+<tr class="memdesc:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if <code>val</code> is within the valid interval of wrapped values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">More...</a><br /></td></tr>
+<tr class="separator:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a> (const double val)</td></tr>
+<tr class="memdesc:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns <code>val</code>, converted to the valid interval of values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">More...</a><br /></td></tr>
+<tr class="separator:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a> (const double what, const double from)</td></tr>
+<tr class="memdesc:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns value of the parameter <code>what</code> modified so that there is no "jump" between <code>from</code> and \t what.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">More...</a><br /></td></tr>
+<tr class="separator:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a> (const double from, const double to)</td></tr>
+<tr class="memdesc:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns length of the shortest walk in the positive direction from the first parameter to the second one.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">More...</a><br /></td></tr>
+<tr class="separator:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a974285ad270bdbc7e09079c8c8017d9e"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pdist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
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+<tr class="separator:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>dist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a7d7bcb2d5f9435de7fe1bf72ed631d89 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">More...</a><br /></td></tr>
+<tr class="separator:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">More...</a><br /></td></tr>
+<tr class="separator:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:aca01a157ad162dd1939001198a0f8801 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">More...</a><br /></td></tr>
+<tr class="separator:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:abaa58e9a2ed165077d1cf4840ca5619c inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">More...</a><br /></td></tr>
+<tr class="separator:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af2628bad48f773b940dcafff0ba89af7"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;what)</td></tr>
+<tr class="memdesc:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">More...</a><br /></td></tr>
+<tr class="separator:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, degrees &gt;</a></td></tr>
+<tr class="memitem:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a94f9db20b89133f33a4c7117a8224a0b"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>val</b></td></tr>
+<tr class="separator:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$). </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="cyclic_8h_source.html">cyclic.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="structmrs__lib_1_1geometry_1_1degrees.html">degrees</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/structmrs__lib_1_1geometry_1_1degrees__coll__graph.map b/structmrs__lib_1_1geometry_1_1degrees__coll__graph.map
new file mode 100644
index 00000000..e34a195b
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1degrees__coll__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::degrees" name="mrs_lib::geometry::degrees">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$)." alt="" coords="28,95,176,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,199,47"/>
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diff --git a/structmrs__lib_1_1geometry_1_1degrees__coll__graph.md5 b/structmrs__lib_1_1geometry_1_1degrees__coll__graph.md5
new file mode 100644
index 00000000..7b45e86d
--- /dev/null
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diff --git a/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.map b/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.map
new file mode 100644
index 00000000..e34a195b
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::degrees" name="mrs_lib::geometry::degrees">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for unsigned degrees (from $0$ to $360$)." alt="" coords="28,95,176,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,199,47"/>
+</map>
diff --git a/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.md5 b/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.md5
new file mode 100644
index 00000000..7b45e86d
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.png b/structmrs__lib_1_1geometry_1_1degrees__inherit__graph.png
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diff --git a/structmrs__lib_1_1geometry_1_1radians-members.html b/structmrs__lib_1_1geometry_1_1radians-members.html
new file mode 100644
index 00000000..3ff7ea86
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1radians-members.html
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::geometry::radians Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>(const cyclic &amp;what)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>()</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(const radians &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(const double minuend, const double subtrahend)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>diff</b>(const cyclic minuend, const cyclic subtrahend) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>minimum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(const double nval)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a>(cyclic &amp;&amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pdist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>supremum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">mrs_lib::geometry::radians</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(const double what, const double from)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>val</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/structmrs__lib_1_1geometry_1_1radians.html b/structmrs__lib_1_1geometry_1_1radians.html
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+<title>mrs_lib: mrs_lib::geometry::radians Struct Reference</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1geometry_1_1radians-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::radians Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$).  
+ <a href="structmrs__lib_1_1geometry_1_1radians.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="cyclic_8h_source.html">cyclic.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::geometry::radians:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1radians__inherit__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1radians_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1radians_inherit__map" id="mrs__lib_1_1geometry_1_1radians_inherit__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$)." alt="" coords="26,95,174,136"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,195,47"/>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::geometry::radians:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1radians__coll__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1radians_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1radians_coll__map" id="mrs__lib_1_1geometry_1_1radians_coll__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$)." alt="" coords="26,95,174,136"/>
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+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a6dcbadcdee9c9df219917c777f3af379"><td class="memItemLeft" align="right" valign="top"><a id="a6dcbadcdee9c9df219917c777f3af379"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>minimum</b> = 0</td></tr>
+<tr class="separator:a6dcbadcdee9c9df219917c777f3af379"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afdeb2d32eea5e2ff4e230c5470e261c1"><td class="memItemLeft" align="right" valign="top"><a id="afdeb2d32eea5e2ff4e230c5470e261c1"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>supremum</b> = 2 * M_PI</td></tr>
+<tr class="separator:afdeb2d32eea5e2ff4e230c5470e261c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td></tr>
+<tr class="memitem:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="ada8bf8d17bfa81025b75d5a4e1da8ac0"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></td></tr>
+<tr class="memdesc:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum of the valid interval of wrapped values <img class="formulaInl" alt="$ m $" src="form_16.png"/>. <br /></td></tr>
+<tr class="separator:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="adf3f559f3099bf6002a8f1331df42142"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a></td></tr>
+<tr class="memdesc:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supremum of the valid interval of wrapped values <img class="formulaInl" alt="$ s $" src="form_17.png"/>. <br /></td></tr>
+<tr class="separator:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a406dfc057fd17b5935add5a7bf9fe325"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td></tr>
+<tr class="memdesc:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity). <br /></td></tr>
+<tr class="separator:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a78cd52e438886de479af6455e97da2b6"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td></tr>
+<tr class="memdesc:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations). <br /></td></tr>
+<tr class="separator:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td></tr>
+<tr class="memitem:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a> ()</td></tr>
+<tr class="memdesc:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">More...</a><br /></td></tr>
+<tr class="separator:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a> (const double val)</td></tr>
+<tr class="memdesc:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor overload.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">More...</a><br /></td></tr>
+<tr class="separator:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">More...</a><br /></td></tr>
+<tr class="separator:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a> &amp;other)</td></tr>
+<tr class="memdesc:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">More...</a><br /></td></tr>
+<tr class="separator:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a> () const</td></tr>
+<tr class="memdesc:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for <code>val</code>.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">More...</a><br /></td></tr>
+<tr class="separator:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a> () const</td></tr>
+<tr class="memdesc:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">More...</a><br /></td></tr>
+<tr class="separator:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">More...</a><br /></td></tr>
+<tr class="separator:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">More...</a><br /></td></tr>
+<tr class="separator:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a> (<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">More...</a><br /></td></tr>
+<tr class="separator:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">More...</a><br /></td></tr>
+<tr class="separator:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">More...</a><br /></td></tr>
+<tr class="separator:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td></tr>
+<tr class="memitem:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a> (const double val)</td></tr>
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+<tr class="separator:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns <code>val</code>, converted to the valid interval of values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">More...</a><br /></td></tr>
+<tr class="separator:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns value of the parameter <code>what</code> modified so that there is no "jump" between <code>from</code> and \t what.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">More...</a><br /></td></tr>
+<tr class="separator:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns length of the shortest walk in the positive direction from the first parameter to the second one.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">More...</a><br /></td></tr>
+<tr class="separator:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a974285ad270bdbc7e09079c8c8017d9e"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pdist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the difference between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">More...</a><br /></td></tr>
+<tr class="separator:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af03272e29206d48f17e2dcb1595db342"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>diff</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> minuend, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> subtrahend)</td></tr>
+<tr class="separator:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a> (const double from, const double to)</td></tr>
+<tr class="memdesc:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the distance between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">More...</a><br /></td></tr>
+<tr class="separator:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d7bcb2d5f9435de7fe1bf72ed631d89 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a7d7bcb2d5f9435de7fe1bf72ed631d89"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>dist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a7d7bcb2d5f9435de7fe1bf72ed631d89 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">More...</a><br /></td></tr>
+<tr class="separator:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a8a55b71fcfef8bb7df80ad15d5f71d55"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">More...</a><br /></td></tr>
+<tr class="separator:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aca01a157ad162dd1939001198a0f8801 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="aca01a157ad162dd1939001198a0f8801"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:aca01a157ad162dd1939001198a0f8801 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">More...</a><br /></td></tr>
+<tr class="separator:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abaa58e9a2ed165077d1cf4840ca5619c inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="abaa58e9a2ed165077d1cf4840ca5619c"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:abaa58e9a2ed165077d1cf4840ca5619c inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">More...</a><br /></td></tr>
+<tr class="separator:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af2628bad48f773b940dcafff0ba89af7"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;what)</td></tr>
+<tr class="memdesc:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">More...</a><br /></td></tr>
+<tr class="separator:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, radians &gt;</a></td></tr>
+<tr class="memitem:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a94f9db20b89133f33a4c7117a8224a0b"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>val</b></td></tr>
+<tr class="separator:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$). </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="geometry_2cyclic_example_8cpp-example.html#_a3">geometry/cyclic_example.cpp</a>.</dd>
+</dl>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="cyclic_8h_source.html">cyclic.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="structmrs__lib_1_1geometry_1_1radians.html">radians</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/structmrs__lib_1_1geometry_1_1radians__coll__graph.map b/structmrs__lib_1_1geometry_1_1radians__coll__graph.map
new file mode 100644
index 00000000..6a66dec7
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1radians__coll__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::radians" name="mrs_lib::geometry::radians">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$)." alt="" coords="26,95,174,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,195,47"/>
+</map>
diff --git a/structmrs__lib_1_1geometry_1_1radians__coll__graph.md5 b/structmrs__lib_1_1geometry_1_1radians__coll__graph.md5
new file mode 100644
index 00000000..9f1cae10
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1radians__coll__graph.md5
@@ -0,0 +1 @@
+461a7a6829dba785d161f3c0a460464d
\ No newline at end of file
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diff --git a/structmrs__lib_1_1geometry_1_1radians__inherit__graph.map b/structmrs__lib_1_1geometry_1_1radians__inherit__graph.map
new file mode 100644
index 00000000..6a66dec7
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1radians__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::radians" name="mrs_lib::geometry::radians">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for unsigned radians (from $0$ to $2\pi$)." alt="" coords="26,95,174,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,195,47"/>
+</map>
diff --git a/structmrs__lib_1_1geometry_1_1radians__inherit__graph.md5 b/structmrs__lib_1_1geometry_1_1radians__inherit__graph.md5
new file mode 100644
index 00000000..9f1cae10
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1radians__inherit__graph.md5
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">mrs_lib::geometry::sdegrees Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>(const cyclic &amp;what)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>()</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(const sdegrees &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(const double minuend, const double subtrahend)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>diff</b>(const cyclic minuend, const cyclic subtrahend) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>minimum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(const double nval)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a>(cyclic &amp;&amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pdist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>supremum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">mrs_lib::geometry::sdegrees</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(const double what, const double from)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>val</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/structmrs__lib_1_1geometry_1_1sdegrees.html b/structmrs__lib_1_1geometry_1_1sdegrees.html
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+<title>mrs_lib: mrs_lib::geometry::sdegrees Struct Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1geometry_1_1sdegrees-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::sdegrees Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$).  
+ <a href="structmrs__lib_1_1geometry_1_1sdegrees.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="cyclic_8h_source.html">cyclic.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::geometry::sdegrees:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1sdegrees_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1sdegrees_inherit__map" id="mrs__lib_1_1geometry_1_1sdegrees_inherit__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for signed degrees (from $&#45;180$ to $180$)." alt="" coords="31,95,179,136"/>
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+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::geometry::sdegrees:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1sdegrees_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1sdegrees_coll__map" id="mrs__lib_1_1geometry_1_1sdegrees_coll__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for signed degrees (from $&#45;180$ to $180$)." alt="" coords="31,95,179,136"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,205,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:af10f0c105cd60a9b0096588326a9b8dd"><td class="memItemLeft" align="right" valign="top"><a id="af10f0c105cd60a9b0096588326a9b8dd"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>minimum</b> = -180</td></tr>
+<tr class="separator:af10f0c105cd60a9b0096588326a9b8dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a214a35cab69e82f1ab55c386267f8436"><td class="memItemLeft" align="right" valign="top"><a id="a214a35cab69e82f1ab55c386267f8436"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>supremum</b> = 180</td></tr>
+<tr class="separator:a214a35cab69e82f1ab55c386267f8436"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td></tr>
+<tr class="memitem:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="ada8bf8d17bfa81025b75d5a4e1da8ac0"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></td></tr>
+<tr class="memdesc:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum of the valid interval of wrapped values <img class="formulaInl" alt="$ m $" src="form_16.png"/>. <br /></td></tr>
+<tr class="separator:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="adf3f559f3099bf6002a8f1331df42142"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a></td></tr>
+<tr class="memdesc:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supremum of the valid interval of wrapped values <img class="formulaInl" alt="$ s $" src="form_17.png"/>. <br /></td></tr>
+<tr class="separator:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td></tr>
+<tr class="memdesc:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity). <br /></td></tr>
+<tr class="separator:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a78cd52e438886de479af6455e97da2b6"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td></tr>
+<tr class="memdesc:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations). <br /></td></tr>
+<tr class="separator:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td></tr>
+<tr class="memitem:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a> ()</td></tr>
+<tr class="memdesc:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">More...</a><br /></td></tr>
+<tr class="separator:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a> (const double val)</td></tr>
+<tr class="memdesc:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor overload.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">More...</a><br /></td></tr>
+<tr class="separator:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">More...</a><br /></td></tr>
+<tr class="separator:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">sdegrees</a> &amp;other)</td></tr>
+<tr class="memdesc:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">More...</a><br /></td></tr>
+<tr class="separator:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a> () const</td></tr>
+<tr class="memdesc:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for <code>val</code>.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">More...</a><br /></td></tr>
+<tr class="separator:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a> () const</td></tr>
+<tr class="memdesc:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">More...</a><br /></td></tr>
+<tr class="separator:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a> (const double nval)</td></tr>
+<tr class="memdesc:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">More...</a><br /></td></tr>
+<tr class="separator:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">More...</a><br /></td></tr>
+<tr class="separator:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a> (<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">More...</a><br /></td></tr>
+<tr class="separator:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">More...</a><br /></td></tr>
+<tr class="separator:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subtraction compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">More...</a><br /></td></tr>
+<tr class="separator:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td></tr>
+<tr class="memitem:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a> (const double val)</td></tr>
+<tr class="memdesc:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if <code>val</code> is within the valid interval of wrapped values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">More...</a><br /></td></tr>
+<tr class="separator:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a> (const double val)</td></tr>
+<tr class="memdesc:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns <code>val</code>, converted to the valid interval of values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">More...</a><br /></td></tr>
+<tr class="separator:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a> (const double what, const double from)</td></tr>
+<tr class="memdesc:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns value of the parameter <code>what</code> modified so that there is no "jump" between <code>from</code> and \t what.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">More...</a><br /></td></tr>
+<tr class="separator:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a> (const double from, const double to)</td></tr>
+<tr class="memdesc:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns length of the shortest walk in the positive direction from the first parameter to the second one.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">More...</a><br /></td></tr>
+<tr class="separator:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a974285ad270bdbc7e09079c8c8017d9e"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pdist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a> (const double minuend, const double subtrahend)</td></tr>
+<tr class="memdesc:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the difference between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">More...</a><br /></td></tr>
+<tr class="separator:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af03272e29206d48f17e2dcb1595db342"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>diff</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> minuend, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> subtrahend)</td></tr>
+<tr class="separator:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a> (const double from, const double to)</td></tr>
+<tr class="memdesc:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the distance between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">More...</a><br /></td></tr>
+<tr class="separator:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d7bcb2d5f9435de7fe1bf72ed631d89 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a7d7bcb2d5f9435de7fe1bf72ed631d89"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>dist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a7d7bcb2d5f9435de7fe1bf72ed631d89 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">More...</a><br /></td></tr>
+<tr class="separator:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a8a55b71fcfef8bb7df80ad15d5f71d55"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">More...</a><br /></td></tr>
+<tr class="separator:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a> (const double from, const double to, const double coeff)</td></tr>
+<tr class="memdesc:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">More...</a><br /></td></tr>
+<tr class="separator:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:abaa58e9a2ed165077d1cf4840ca5619c inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">More...</a><br /></td></tr>
+<tr class="separator:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;what)</td></tr>
+<tr class="memdesc:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">More...</a><br /></td></tr>
+<tr class="separator:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sdegrees &gt;</a></td></tr>
+<tr class="memitem:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a94f9db20b89133f33a4c7117a8224a0b"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>val</b></td></tr>
+<tr class="separator:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Convenience specialization of the cyclic class for signed degrees (from $-180$ to $180$). </p>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="cyclic_8h_source.html">cyclic.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="structmrs__lib_1_1geometry_1_1sdegrees.html">sdegrees</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.map b/structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.map
new file mode 100644
index 00000000..08feefa4
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::sdegrees" name="mrs_lib::geometry::sdegrees">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for signed degrees (from $&#45;180$ to $180$)." alt="" coords="31,95,179,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,205,47"/>
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diff --git a/structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.md5 b/structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.md5
new file mode 100644
index 00000000..6edc85f6
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sdegrees__coll__graph.md5
@@ -0,0 +1 @@
+69f5bcb801b87cbbb5f73c549300da1e
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diff --git a/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.map b/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.map
new file mode 100644
index 00000000..08feefa4
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::sdegrees" name="mrs_lib::geometry::sdegrees">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for signed degrees (from $&#45;180$ to $180$)." alt="" coords="31,95,179,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,205,47"/>
+</map>
diff --git a/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.md5 b/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.md5
new file mode 100644
index 00000000..6edc85f6
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.png b/structmrs__lib_1_1geometry_1_1sdegrees__inherit__graph.png
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diff --git a/structmrs__lib_1_1geometry_1_1sradians-members.html b/structmrs__lib_1_1geometry_1_1sradians-members.html
new file mode 100644
index 00000000..6114912c
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sradians-members.html
@@ -0,0 +1,138 @@
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>mrs_lib: Member List</title>
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<!-- end header part -->
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+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::sradians Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a>(const cyclic &amp;what)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a>()</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a>(const sradians &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">diff</a>(const double minuend, const double subtrahend)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>diff</b>(const cyclic minuend, const cyclic subtrahend) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">dist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae7ff9988f0d3ef6cf3bd724f3e29273b">inRange</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">interp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">interpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>interpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>minimum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad45609e5fa890a79729b100231e427da">operator-=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a>(const double nval)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a>(const cyclic &amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a>(cyclic &amp;&amp;other)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a51db20b50daabf98afae8bd77e3a3ac4">pdist</a>(const double from, const double to)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pdist</b>(const cyclic from, const cyclic to) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">pinterp</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterp</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a>(const double from, const double to, const double coeff)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pinterpUnwrapped</b>(const cyclic from, const cyclic to, const double coeff) (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>supremum</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">mrs_lib::geometry::sradians</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a21d98e561a2d296e1d64b38a74883902">unwrap</a>(const double what, const double from)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>val</b> (defined in <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a>() const</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada5b55bcb4a01898fd9fdd9c393efd95">wrap</a>(const double val)</td><td class="entry"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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diff --git a/structmrs__lib_1_1geometry_1_1sradians.html b/structmrs__lib_1_1geometry_1_1sradians.html
new file mode 100644
index 00000000..93b38536
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sradians.html
@@ -0,0 +1,262 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structmrs__lib_1_1geometry_1_1sradians-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">mrs_lib::geometry::sradians Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$).  
+ <a href="structmrs__lib_1_1geometry_1_1sradians.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="cyclic_8h_source.html">cyclic.h</a>&gt;</code></p>
+<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Inheritance diagram for mrs_lib::geometry::sradians:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1sradians__inherit__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1sradians_inherit__map" alt="Inheritance graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1sradians_inherit__map" id="mrs__lib_1_1geometry_1_1sradians_inherit__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for signed radians (from $&#45;\pi$ to $\pi$)." alt="" coords="29,95,177,136"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,201,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<div id="dynsection-1" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-1-trigger" src="closed.png" alt="+"/> Collaboration diagram for mrs_lib::geometry::sradians:</div>
+<div id="dynsection-1-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-1-content" class="dyncontent" style="display:none;">
+<div class="center"><img src="structmrs__lib_1_1geometry_1_1sradians__coll__graph.png" border="0" usemap="#mrs__lib_1_1geometry_1_1sradians_coll__map" alt="Collaboration graph"/></div>
+<map name="mrs__lib_1_1geometry_1_1sradians_coll__map" id="mrs__lib_1_1geometry_1_1sradians_coll__map">
+<area shape="rect" title="Convenience specialization of the cyclic class for signed radians (from $&#45;\pi$ to $\pi$)." alt="" coords="29,95,177,136"/>
+<area shape="rect" href="structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,201,47"/>
+</map>
+<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ad6c15993a8e24e78843f380d86e2577b"><td class="memItemLeft" align="right" valign="top"><a id="ad6c15993a8e24e78843f380d86e2577b"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>minimum</b> = -M_PI</td></tr>
+<tr class="separator:ad6c15993a8e24e78843f380d86e2577b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3d7d93b2d9ab7c3cfd884e77db90b5a3"><td class="memItemLeft" align="right" valign="top"><a id="a3d7d93b2d9ab7c3cfd884e77db90b5a3"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>supremum</b> = M_PI</td></tr>
+<tr class="separator:a3d7d93b2d9ab7c3cfd884e77db90b5a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td></tr>
+<tr class="memitem:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="ada8bf8d17bfa81025b75d5a4e1da8ac0"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ada8bf8d17bfa81025b75d5a4e1da8ac0">minimum</a></td></tr>
+<tr class="memdesc:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum of the valid interval of wrapped values <img class="formulaInl" alt="$ m $" src="form_16.png"/>. <br /></td></tr>
+<tr class="separator:ada8bf8d17bfa81025b75d5a4e1da8ac0 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="adf3f559f3099bf6002a8f1331df42142"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#adf3f559f3099bf6002a8f1331df42142">supremum</a></td></tr>
+<tr class="memdesc:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Supremum of the valid interval of wrapped values <img class="formulaInl" alt="$ s $" src="form_17.png"/>. <br /></td></tr>
+<tr class="separator:adf3f559f3099bf6002a8f1331df42142 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a406dfc057fd17b5935add5a7bf9fe325"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a406dfc057fd17b5935add5a7bf9fe325">range</a></td></tr>
+<tr class="memdesc:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Range of the valid interval of wrapped values <img class="formulaInl" alt="$ r $" src="form_21.png"/> (also the period of the cyclic quantity). <br /></td></tr>
+<tr class="separator:a406dfc057fd17b5935add5a7bf9fe325 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a78cd52e438886de479af6455e97da2b6"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a78cd52e438886de479af6455e97da2b6">half_range</a></td></tr>
+<tr class="memdesc:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Half of the range of the valid interval of wrapped values <img class="formulaInl" alt="$ r/2 $" src="form_22.png"/> (used for some calculations). <br /></td></tr>
+<tr class="separator:a78cd52e438886de479af6455e97da2b6 inherit pub_static_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td></tr>
+<tr class="memitem:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">cyclic</a> ()</td></tr>
+<tr class="memdesc:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ab366578641265f73655d1edc023cc2c7">More...</a><br /></td></tr>
+<tr class="separator:ab366578641265f73655d1edc023cc2c7 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">cyclic</a> (const double val)</td></tr>
+<tr class="memdesc:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor overload.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ae0cfbde43f9fa6a3f26f1e4cf8184d30">More...</a><br /></td></tr>
+<tr class="separator:ae0cfbde43f9fa6a3f26f1e4cf8184d30 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9ca52b4d47969ec56057b8217f201ab9">More...</a><br /></td></tr>
+<tr class="separator:a9ca52b4d47969ec56057b8217f201ab9 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">cyclic</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">sradians</a> &amp;other)</td></tr>
+<tr class="memdesc:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ad40f88cb0dab7a684335f3403a9df7b0">More...</a><br /></td></tr>
+<tr class="separator:ad40f88cb0dab7a684335f3403a9df7b0 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">value</a> () const</td></tr>
+<tr class="memdesc:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getter for <code>val</code>.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a064a156dd856871bf1b4acf22cba78e3">More...</a><br /></td></tr>
+<tr class="separator:a064a156dd856871bf1b4acf22cba78e3 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">convert</a> () const</td></tr>
+<tr class="memdesc:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa86da042144ee34330e4cef57b410f58">More...</a><br /></td></tr>
+<tr class="separator:aa86da042144ee34330e4cef57b410f58 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">operator=</a> (const double nval)</td></tr>
+<tr class="memdesc:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1ff6b499102b0eb290b6d121284c51ce">More...</a><br /></td></tr>
+<tr class="separator:a1ff6b499102b0eb290b6d121284c51ce inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">operator=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#ace7e2ff831cf60311e28a70035114bcd">More...</a><br /></td></tr>
+<tr class="separator:ace7e2ff831cf60311e28a70035114bcd inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">operator=</a> (<a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&amp;other)</td></tr>
+<tr class="memdesc:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Move operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a8c81dca050a406b4225e8816a1955fb2">More...</a><br /></td></tr>
+<tr class="separator:a8c81dca050a406b4225e8816a1955fb2 inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">operator+=</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;other)</td></tr>
+<tr class="memdesc:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Addition compound operator.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d797e1245025227ede866ab08bcc19f">More...</a><br /></td></tr>
+<tr class="separator:a0d797e1245025227ede866ab08bcc19f inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad45609e5fa890a79729b100231e427da inherit pub_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td></tr>
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+<tr class="separator:ae7ff9988f0d3ef6cf3bd724f3e29273b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ada5b55bcb4a01898fd9fdd9c393efd95 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a21d98e561a2d296e1d64b38a74883902 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a51db20b50daabf98afae8bd77e3a3ac4 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pdist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a974285ad270bdbc7e09079c8c8017d9e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the difference between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#aa5b1c6f8e1ab47b374f10a1a96de910b">More...</a><br /></td></tr>
+<tr class="separator:aa5b1c6f8e1ab47b374f10a1a96de910b inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af03272e29206d48f17e2dcb1595db342"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>diff</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> minuend, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> subtrahend)</td></tr>
+<tr class="separator:af03272e29206d48f17e2dcb1595db342 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the distance between the two circular values.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9eb4b1ce4c4307d6bed9642bbf52133e">More...</a><br /></td></tr>
+<tr class="separator:a9eb4b1ce4c4307d6bed9642bbf52133e inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>dist</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to)</td></tr>
+<tr class="separator:a7d7bcb2d5f9435de7fe1bf72ed631d89 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities without wrapping of the result.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a1c2837eea4d0635833a786d571922d76">More...</a><br /></td></tr>
+<tr class="separator:a1c2837eea4d0635833a786d571922d76 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a8a55b71fcfef8bb7df80ad15d5f71d55"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:a8a55b71fcfef8bb7df80ad15d5f71d55 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#afe8344d8017f4ed883ecc28379465d99">More...</a><br /></td></tr>
+<tr class="separator:afe8344d8017f4ed883ecc28379465d99 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static double&#160;</td><td class="memItemRight" valign="bottom"><b>interp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:aca01a157ad162dd1939001198a0f8801 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a0d9809504c23cb0854df0b4ceb95f426">pinterpUnwrapped</a> (const double from, const double to, const double coeff)</td></tr>
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+<tr class="separator:a0d9809504c23cb0854df0b4ceb95f426 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abaa58e9a2ed165077d1cf4840ca5619c inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="abaa58e9a2ed165077d1cf4840ca5619c"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterpUnwrapped</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:abaa58e9a2ed165077d1cf4840ca5619c inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interpolation between two circular quantities in the positive direction.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a9b314c2ffd8a73a5a944bcdb751fdeac">More...</a><br /></td></tr>
+<tr class="separator:a9b314c2ffd8a73a5a944bcdb751fdeac inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="af2628bad48f773b940dcafff0ba89af7"></a>
+static double&#160;</td><td class="memItemRight" valign="bottom"><b>pinterp</b> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> from, const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> to, const double coeff)</td></tr>
+<tr class="separator:af2628bad48f773b940dcafff0ba89af7 inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top">static other_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">convert</a> (const <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">cyclic</a> &amp;what)</td></tr>
+<tr class="memdesc:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="mdescLeft">&#160;</td><td class="mdescRight">Conversion between two different circular quantities.  <a href="structmrs__lib_1_1geometry_1_1cyclic.html#a872202b166f48d3759cd58cc57242f5f">More...</a><br /></td></tr>
+<tr class="separator:a872202b166f48d3759cd58cc57242f5f inherit pub_static_methods_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_structmrs__lib_1_1geometry_1_1cyclic')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="structmrs__lib_1_1geometry_1_1cyclic.html">mrs_lib::geometry::cyclic&lt; double, sradians &gt;</a></td></tr>
+<tr class="memitem:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memItemLeft" align="right" valign="top"><a id="a94f9db20b89133f33a4c7117a8224a0b"></a>
+double&#160;</td><td class="memItemRight" valign="bottom"><b>val</b></td></tr>
+<tr class="separator:a94f9db20b89133f33a4c7117a8224a0b inherit pro_attribs_structmrs__lib_1_1geometry_1_1cyclic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Convenience specialization of the cyclic class for signed radians (from $-\pi$ to $\pi$). </p>
+<dl class="section examples"><dt>Examples</dt><dd><a class="el" href="geometry_2cyclic_example_8cpp-example.html#_a4">geometry/cyclic_example.cpp</a>.</dd>
+</dl>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/mrs_lib/geometry/<a class="el" href="cyclic_8h_source.html">cyclic.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></li><li class="navelem"><b>geometry</b></li><li class="navelem"><a class="el" href="structmrs__lib_1_1geometry_1_1sradians.html">sradians</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
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new file mode 100644
index 00000000..8b08057f
--- /dev/null
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new file mode 100644
index 00000000..eb5e336f
--- /dev/null
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diff --git a/structmrs__lib_1_1geometry_1_1sradians__inherit__graph.map b/structmrs__lib_1_1geometry_1_1sradians__inherit__graph.map
new file mode 100644
index 00000000..8b08057f
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sradians__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="mrs_lib::geometry::sradians" name="mrs_lib::geometry::sradians">
+<area shape="rect" id="node1" title="Convenience specialization of the cyclic class for signed radians (from $&#45;\pi$ to $\pi$)." alt="" coords="29,95,177,136"/>
+<area shape="rect" id="node2" href="$structmrs__lib_1_1geometry_1_1cyclic.html" title=" " alt="" coords="5,5,201,47"/>
+</map>
diff --git a/structmrs__lib_1_1geometry_1_1sradians__inherit__graph.md5 b/structmrs__lib_1_1geometry_1_1sradians__inherit__graph.md5
new file mode 100644
index 00000000..eb5e336f
--- /dev/null
+++ b/structmrs__lib_1_1geometry_1_1sradians__inherit__graph.md5
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+  <tr bgcolor="#f0f0f0"><td class="entry"><b>B</b> (defined in <a class="el" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html">mrs_lib::quadratic_throttle_model::MotorParams_t</a>)</td><td class="entry"><a class="el" href="structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html">mrs_lib::quadratic_throttle_model::MotorParams_t</a></td><td class="entry"></td></tr>
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diff --git a/structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html b/structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+</div><!-- contents -->
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+<!-- start footer part -->
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+    <li class="footer">Generated by
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+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+    [ "B", "structmrs__lib_1_1quadratic__throttle__model_1_1MotorParams__t.html#ac94138c9d8fc8a364941024bbc7650b3", null ],
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+  <div class="headertitle">
+<div class="title">obj_t Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structobj__t.html">obj_t</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>avg_dt_err_s</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>callback</b>(const ros::Time &amp;last_update) (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>callback</b>(const ros::TimerEvent &amp;evt) (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cbk_not_running</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cbk_running</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cbk_running</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cbk_running_mtx</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>cbks_in_time</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>cbks_ok</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>check_dt_err</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>desired_dt</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>max_dt_err_s</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>max_expected_dt_err_s</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>mtx</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>n_cbks</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>null_cbk</b> (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>obj_t</b>(const ros::Duration &amp;desired_dt, const ros::Duration &amp;max_expected_dt_err) (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_timeout_id</b>(mrs_lib::TimeoutManager::timeout_id_t new_timeout_id) (defined in <a class="el" href="structobj__t.html">obj_t</a>)</td><td class="entry"><a class="el" href="structobj__t.html">obj_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structobj__t-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">obj_t Struct Reference</div>  </div>
+</div><!--header-->
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<a href="#pub-types">Public Types</a> &#124;
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+  <div class="headertitle">
+<div class="title">std::tuple_element&lt; 2, mrs_lib::AttitudeConverter &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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+</ul>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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diff --git a/structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4.html b/structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4.html
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="structstd_1_1tuple__size_3_01mrs__lib_1_1AttitudeConverter_01_4-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">std::tuple_size&lt; mrs_lib::AttitudeConverter &gt; Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
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+<li>include/mrs_lib/<a class="el" href="attitude__converter_8h_source.html">attitude_converter.h</a></li>
+</ul>
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+<p>Example file for the SubscribeHandler convenience class.  
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>timeout_callback</b> (const std::string &amp;topic_name, const ros::Time &amp;last_msg)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the SubscribeHandler convenience class. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> subscribe_handler_example</code>.</p>
+<p>See <a class="el" href="subscribe_handler_2example_8cpp-example.html">subscribe_handler/example.cpp</a>. </p>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+    [ "main", "subscribe__handler_2example_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627", null ],
+    [ "message_callback", "subscribe__handler_2example_8cpp.html#a24622b7a9c364e5304d136fb7517ba25", null ],
+    [ "timeout_callback", "subscribe__handler_2example_8cpp.html#aeef8c1f6cb88fff39120645123fb0061", null ],
+    [ "sub_obj", "subscribe__handler_2example_8cpp.html#aeac2f2d0a7c6cf5d1a3d27230238086f", null ]
+];
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+<p>Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="timeout__manager_8h_source.html">mrs_lib/timeout_manager.h</a>&gt;</code><br />
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+template&lt;typename SubscribeHandler &gt; </td></tr>
+<tr class="memitem:afe10d9f91cc2173fa3c30021514a5c12"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">mrs_lib::message_type</a> = typename SubscribeHandler::message_type</td></tr>
+<tr class="memdesc:afe10d9f91cc2173fa3c30021514a5c12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr. <br /></td></tr>
+<tr class="separator:afe10d9f91cc2173fa3c30021514a5c12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a6bd2a4b1c7a370ecf5abcb082d68f02f"><td class="memTemplParams" colspan="2">template&lt;typename Class , class ... Types&gt; </td></tr>
+<tr class="memitem:a6bd2a4b1c7a370ecf5abcb082d68f02f"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">mrs_lib::construct_object</a> (Class &amp;object, Types ... args)</td></tr>
+<tr class="memdesc:a6bd2a4b1c7a370ecf5abcb082d68f02f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper function for object construstion e.g. in case of member objects. This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction. This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference argument and not as a return type.  <a href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">More...</a><br /></td></tr>
+<tr class="separator:a6bd2a4b1c7a370ecf5abcb082d68f02f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines SubscribeHandler and related convenience classes for subscribing to ROS topics. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="subscribe__handler_8h.html">subscribe_handler.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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diff --git a/subscribe__handler_8h.js b/subscribe__handler_8h.js
new file mode 100644
index 00000000..ed7f27a0
--- /dev/null
+++ b/subscribe__handler_8h.js
@@ -0,0 +1,7 @@
+var subscribe__handler_8h =
+[
+    [ "SubscribeHandlerOptions", "structmrs__lib_1_1SubscribeHandlerOptions.html", "structmrs__lib_1_1SubscribeHandlerOptions" ],
+    [ "SubscribeHandler", "classmrs__lib_1_1SubscribeHandler.html", "classmrs__lib_1_1SubscribeHandler" ],
+    [ "message_type", "subscribe__handler_8h.html#afe10d9f91cc2173fa3c30021514a5c12", null ],
+    [ "construct_object", "subscribe__handler_8h.html#a6bd2a4b1c7a370ecf5abcb082d68f02f", null ]
+];
\ No newline at end of file
diff --git a/subscribe__handler_8h__dep__incl.map b/subscribe__handler_8h__dep__incl.map
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index 00000000..88cbc3c8
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+<area shape="rect" id="node1" title="Defines SubscribeHandler and related convenience classes for subscribing to ROS topics." alt="" coords="59,5,245,47"/>
+<area shape="rect" id="node2" href="$subscribe__handler_8hpp_source.html" title=" " alt="" coords="5,95,176,136"/>
+<area shape="rect" id="node3" href="$subscribe__handler_2example_8cpp.html" title="Example file for the SubscribeHandler convenience class." alt="" coords="71,184,233,225"/>
+<area shape="rect" id="node4" href="$simple__example_8cpp.html" title="Example file for the SubscribeHandler convenience class." alt="" coords="251,95,413,136"/>
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diff --git a/subscribe__handler_8h__dep__incl.md5 b/subscribe__handler_8h__dep__incl.md5
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+<div class="title">subscribe_handler.h</div>  </div>
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+<a href="subscribe__handler_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef SUBRSCRIBE_HANDLER_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define SUBRSCRIBE_HANDLER_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="timeout__manager_8h.html">mrs_lib/timeout_manager.h</a>&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> ros::Duration no_timeout = ros::Duration(0);</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="comment">/* struct SubscribeHandlerOptions //{ */</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html">   29</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  {</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a>(<span class="keyword">const</span> ros::NodeHandle&amp; <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">nh</a>) : <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">nh</a>(<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">nh</a>) {}</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">   34</a></span>&#160;    ros::NodeHandle <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">nh</a>;  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">   36</a></span>&#160;    std::string <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">node_name</a> = {};  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">   38</a></span>&#160;    std::string <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">topic_name</a> = {};  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">   40</a></span>&#160;    std::shared_ptr&lt;mrs_lib::TimeoutManager&gt; <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">timeout_manager</a> = <span class="keyword">nullptr</span>;  </div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">   42</a></span>&#160;    ros::Duration <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">no_message_timeout</a> = mrs_lib::no_timeout;  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">   44</a></span>&#160;    std::function&lt;void(<span class="keyword">const</span> std::string&amp; <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">topic_name</a>, <span class="keyword">const</span> ros::Time&amp; last_msg)&gt; <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">timeout_callback</a> = {};  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511">   46</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511">threadsafe</a> = <span class="keyword">true</span>;  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aab7865b63b3dd44b61dba06c54f981c8">   48</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aab7865b63b3dd44b61dba06c54f981c8">autostart</a> = <span class="keyword">true</span>;  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">   50</a></span>&#160;    uint32_t <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">queue_size</a> = 3;  </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">   52</a></span>&#160;    ros::TransportHints <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">transport_hints</a> = ros::TransportHints();  </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  };</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">/* SubscribeHandler class //{ */</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> MessageType&gt;</div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler.html">   80</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a></div>
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+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">   86</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">message_type</a> = MessageType;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">   91</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">timeout_callback_t</a> = std::function&lt;void(<span class="keyword">const</span> std::string&amp; topic_name, <span class="keyword">const</span> ros::Time&amp; last_msg)&gt;;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">   96</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a> = std::function&lt;void(<span class="keyword">typename</span> MessageType::ConstPtr)&gt;;</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
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+<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">  106</a></span>&#160;      <span class="keyword">virtual</span> <span class="keyword">typename</span> MessageType::ConstPtr <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>() {assert(m_pimpl); <span class="keywordflow">return</span> m_pimpl-&gt;getMsg();};</div>
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+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
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+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">  127</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">newMsg</a>()<span class="keyword"> const </span>{assert(m_pimpl); <span class="keywordflow">return</span> m_pimpl-&gt;newMsg();};</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
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+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
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+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
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+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
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+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          m_pimpl = std::make_unique&lt;ImplThreadsafe&gt;</div>
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+<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        other.m_pimpl = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      }</div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
+<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keyword">class </span>Impl;</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      <span class="keyword">class </span>ImplThreadsafe;</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      std::unique_ptr&lt;Impl&gt; m_pimpl;</div>
+<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  };</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> SubscribeHandler&gt;</div>
+<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">  441</a></span>&#160;  <span class="keyword">using</span> <a class="code" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">message_type</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">SubscribeHandler::message_type</a>;</div>
+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160; </div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Class, <span class="keyword">class </span>... Types&gt;</div>
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+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        Class&amp; <span class="keywordtype">object</span>,</div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        Types ... args</div>
+<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      )</div>
+<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  {</div>
+<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="keywordtype">object</span> = Class(args...);</div>
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+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;}</div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/impl/subscribe_handler.hpp&gt;</span></div>
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+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="preprocessor">#endif // SUBRSCRIBE_HANDLER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a5abe6590d88b396d94cce7a7ae652e09"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">mrs_lib::SubscribeHandlerOptions::queue_size</a></div><div class="ttdeci">uint32_t queue_size</div><div class="ttdoc">This parameter is passed to the NodeHandle when subscribing to the topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a9c6bcd07e10b60c70f02de2c6d5f632e"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">mrs_lib::SubscribeHandler::hasMsg</a></div><div class="ttdeci">virtual bool hasMsg() const</div><div class="ttdoc">Used to check whether at least one message has been received on the handled topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:120</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_aa625f9d69548da72d92f7e8a25b078e3"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#aa625f9d69548da72d92f7e8a25b078e3">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, const timeout_callback_t &amp;timeout_callback, Types ... args)</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:257</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_aab546ccb302e3e05d8e97e9085f62b9a"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#aab546ccb302e3e05d8e97e9085f62b9a">mrs_lib::SubscribeHandler::message_type</a></div><div class="ttdeci">MessageType message_type</div><div class="ttdoc">Convenience type for the template parameter to enable nice aliasing.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:86</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a6f12a82506c6967a8af9c2c878a1803a"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">mrs_lib::SubscribeHandler::timeout_callback_t</a></div><div class="ttdeci">std::function&lt; void(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&gt; timeout_callback_t</div><div class="ttdoc">Type for the timeout callback function.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:91</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a50dd6637eb0800d0ee53c1cd6cee058e"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">mrs_lib::SubscribeHandlerOptions::timeout_manager</a></div><div class="ttdeci">std::shared_ptr&lt; mrs_lib::TimeoutManager &gt; timeout_manager</div><div class="ttdoc">Will be used for handling message timouts if necessary. If no manager is specified,...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_ab027bb4a6edece35701e17ba0c137cfc"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">mrs_lib::SubscribeHandler::usedMsg</a></div><div class="ttdeci">virtual bool usedMsg() const</div><div class="ttdoc">Used to check whether getMsg() was called at least once on this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:134</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a41f19ca415439152b934b3633933ec25"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">mrs_lib::SubscribeHandlerOptions::transport_hints</a></div><div class="ttdeci">ros::TransportHints transport_hints</div><div class="ttdoc">This parameter is passed to the NodeHandle when subscribing to the topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:52</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></div><div class="ttdoc">A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a27ac792b1dfa8a62d087b565bec33925"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a27ac792b1dfa8a62d087b565bec33925">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, void(ObjectType2::*const message_callback)(typename MessageType::ConstPtr), ObjectType2 *const obj2, Types ... args)</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:314</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a36a097cf480a16bf239885be6e35b5d0"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">mrs_lib::SubscribeHandler::stop</a></div><div class="ttdeci">virtual void stop()</div><div class="ttdoc">Disables the callbacks for the handled topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:178</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_aaceb7739b06d44d7fe619418d5cecd4e"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#aaceb7739b06d44d7fe619418d5cecd4e">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, const std::string &amp;topic_name, Types ... args)</div><div class="ttdoc">Main constructor.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:198</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a19a708c3f200ccfac2695a649b9d6e77"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">mrs_lib::SubscribeHandler::getMsg</a></div><div class="ttdeci">virtual MessageType::ConstPtr getMsg()</div><div class="ttdoc">Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:106</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a14c1c92e119c047a3c40724f1152b7b9"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a14c1c92e119c047a3c40724f1152b7b9">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, void(ObjectType2::*const message_callback)(typename MessageType::ConstPtr), ObjectType2 *const obj2, void(ObjectType1::*const timeout_callback)(const std::string &amp;topic_name, const ros::Time &amp;last_msg), ObjectType1 *const obj1, Types ... args)</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:341</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_af8bc123e16de75e3b6c00724b817eaaf"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">mrs_lib::SubscribeHandler::start</a></div><div class="ttdeci">virtual void start()</div><div class="ttdoc">Enables the callbacks for the handled topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:170</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a></div><div class="ttdoc">The main class for ROS topic subscription, message timeout handling etc.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:80</div></div>
+<div class="ttc" id="atimeout__manager_8h_html"><div class="ttname"><a href="timeout__manager_8h.html">timeout_manager.h</a></div><div class="ttdoc">TODO.</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a5702cb78ed291f5e36c960d0f90bb35c"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">mrs_lib::SubscribeHandlerOptions::no_message_timeout</a></div><div class="ttdeci">ros::Duration no_message_timeout</div><div class="ttdoc">If no new message is received for this duration, the timeout_callback function will be called....</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:42</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a94f4bedf9229325ca6a14202f5cfbcc5"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">mrs_lib::SubscribeHandler::waitForNew</a></div><div class="ttdeci">virtual MessageType::ConstPtr waitForNew(const ros::WallDuration &amp;timeout)</div><div class="ttdoc">Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:141</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_afe10d9f91cc2173fa3c30021514a5c12"><div class="ttname"><a href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">mrs_lib::message_type</a></div><div class="ttdeci">typename SubscribeHandler::message_type message_type</div><div class="ttdoc">Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:441</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a13159347fe9f13d778d7c02f2d1b1a98"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a13159347fe9f13d778d7c02f2d1b1a98">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler()</div><div class="ttdoc">Default constructor to avoid having to use pointers.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:187</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a3d31e2d693f41df180cd6911a3fb8310"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">mrs_lib::SubscribeHandlerOptions::node_name</a></div><div class="ttdeci">std::string node_name</div><div class="ttdoc">Name of the ROS node, using this handle (used for messages printed to console).</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_ab24f400bfd36d733366d25b63ec8889d"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#ab24f400bfd36d733366d25b63ec8889d">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, void(ObjectType1::*const timeout_callback)(const std::string &amp;topic_name, const ros::Time &amp;last_msg), ObjectType1 *const obj1, Types ... args)</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:285</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a6638d8d589149edba21bf08fa571f18e"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">mrs_lib::SubscribeHandler::peekMsg</a></div><div class="ttdeci">virtual MessageType::ConstPtr peekMsg() const</div><div class="ttdoc">Returns the last received message on the topic without modifying the newMsg() or usedMsg() flags.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:113</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_aba6f6f262bfeae0d1f6f39bb778d04af"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">mrs_lib::SubscribeHandlerOptions::timeout_callback</a></div><div class="ttdeci">std::function&lt; void(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&gt; timeout_callback</div><div class="ttdoc">This function will be called if no new message is received for the no_message_timeout duration....</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:44</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1TimeoutManager_html"><div class="ttname"><a href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></div><div class="ttdoc">TODO.</div><div class="ttdef"><b>Definition:</b> timeout_manager.h:19</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a40f16a8553532b9685feb4b33f342602"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a40f16a8553532b9685feb4b33f342602">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, const message_callback_t &amp;message_callback={})</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:223</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a512ffa88a2164e420f1c4a6ae1823e68"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">mrs_lib::SubscribeHandler::topicName</a></div><div class="ttdeci">virtual std::string topicName() const</div><div class="ttdoc">Returns the resolved (full) name of the topic, handled by this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:155</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a374f745d46497064c62909412ebdf266"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">mrs_lib::SubscribeHandlerOptions::topic_name</a></div><div class="ttdeci">std::string topic_name</div><div class="ttdoc">Name of the ROS topic to be handled.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a38b7371b24896e5ea21f5a8dd2821cf6"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">mrs_lib::SubscribeHandler::message_callback_t</a></div><div class="ttdeci">std::function&lt; void(typename MessageType::ConstPtr)&gt; message_callback_t</div><div class="ttdoc">Convenience type for the message callback function.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:96</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a2ee619f8b6fe5ce56599752e63161b51"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a2ee619f8b6fe5ce56599752e63161b51">mrs_lib::SubscribeHandler::subscribedTopicName</a></div><div class="ttdeci">virtual std::string subscribedTopicName() const</div><div class="ttdoc">Returns the subscribed (unresolved) name of the topic, handled by this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:162</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a46bde5660a9480814caa801e2baf3cd3"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">mrs_lib::SubscribeHandler::newMsg</a></div><div class="ttdeci">virtual bool newMsg() const</div><div class="ttdoc">Used to check whether at least one message has been received on the handled topic since the last call...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:127</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a7c924f3581ff84d571b825d7e77b9511"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a7c924f3581ff84d571b825d7e77b9511">mrs_lib::SubscribeHandlerOptions::threadsafe</a></div><div class="ttdeci">bool threadsafe</div><div class="ttdoc">If true, all methods of the SubscribeHandler will be mutexed (using a recursive mutex) to avoid data ...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:46</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_ac5f6fabbc933d7e3f9beba07b166c054"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">mrs_lib::SubscribeHandlerOptions::nh</a></div><div class="ttdeci">ros::NodeHandle nh</div><div class="ttdoc">The ROS NodeHandle to be used for subscription.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:34</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_ab3499b8b5910450df90c905d1811e4a3"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#ab3499b8b5910450df90c905d1811e4a3">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, mrs_lib::TimeoutManager &amp;timeout_manager, Types ... args)</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:399</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a367e7245e60ee2a87f680a27c0e1a8e5"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a367e7245e60ee2a87f680a27c0e1a8e5">mrs_lib::SubscribeHandler::SubscribeHandler</a></div><div class="ttdeci">SubscribeHandler(const SubscribeHandlerOptions &amp;options, const ros::Duration &amp;no_message_timeout, Types ... args)</div><div class="ttdoc">Convenience constructor overload.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:372</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_ab96777b29e74827ad109346504565f9b"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">mrs_lib::SubscribeHandler::lastMsgTime</a></div><div class="ttdeci">virtual ros::Time lastMsgTime() const</div><div class="ttdoc">Returns time of the last received message on the topic, handled by this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:148</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_a6bd2a4b1c7a370ecf5abcb082d68f02f"><div class="ttname"><a href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">mrs_lib::construct_object</a></div><div class="ttdeci">void construct_object(Class &amp;object, Types ... args)</div><div class="ttdoc">Helper function for object construstion e.g. in case of member objects. This function is useful to av...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:453</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_aab7865b63b3dd44b61dba06c54f981c8"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#aab7865b63b3dd44b61dba06c54f981c8">mrs_lib::SubscribeHandlerOptions::autostart</a></div><div class="ttdeci">bool autostart</div><div class="ttdoc">If true, the SubscribeHandler will be started after construction. Otherwise it has to be started usin...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:48</div></div>
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+<div class="title">subscribe_handler.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#ifndef SUBSCRIBE_HANDLER_HPP</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#define SUBSCRIBE_HANDLER_HPP</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="subscribe__handler_8h.html">mrs_lib/subscribe_handler.h</a>&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/timer.h&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;condition_variable&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;{</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <span class="comment">/* SubscribeHandler::Impl class //{ */</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">// implements the constructor, getMsg() method and data_callback method (non-thread-safe)</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> MessageType&gt;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">   16</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt;MessageType&gt;::<a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">Impl</a></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">using</span> timeout_callback_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">SubscribeHandler&lt;MessageType&gt;::timeout_callback_t</a>;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keyword">using</span> message_callback_t = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">SubscribeHandler&lt;MessageType&gt;::message_callback_t</a>;</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">using</span> data_callback_t = std::function&lt;void(<span class="keyword">const</span> <span class="keyword">typename</span> MessageType::ConstPtr&amp;)&gt;;</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt;MessageType&gt;;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">/* constructor //{ */</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">Impl</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a>&amp; options, <span class="keyword">const</span> message_callback_t&amp; message_callback = <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a>())</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        : m_nh(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">nh</a>),</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;          m_topic_name(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">topic_name</a>),</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;          m_node_name(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">node_name</a>),</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;          m_got_data(<span class="keyword">false</span>),</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          m_new_data(<span class="keyword">false</span>),</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          m_used_data(<span class="keyword">false</span>),</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;          m_timeout_manager(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">timeout_manager</a>),</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;          m_latest_message_time(0),</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;          m_latest_message(<span class="keyword">nullptr</span>),</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;          m_message_callback(message_callback),</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;          m_queue_size(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">queue_size</a>),</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;          m_transport_hints(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">transport_hints</a>)</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    {</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keywordflow">if</span> (options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">no_message_timeout</a> != mrs_lib::no_timeout)</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="comment">// initialize a new TimeoutManager if not provided by the user</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keywordflow">if</span> (!m_timeout_manager)</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          m_timeout_manager = std::make_shared&lt;mrs_lib::TimeoutManager&gt;(m_nh, ros::Rate(2.0/options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">no_message_timeout</a>.toSec()));</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="comment">// initialize the callback for the TimeoutManager</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        std::function&lt;void(<span class="keyword">const</span> ros::Time&amp;)&gt; timeout_mgr_callback;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keywordflow">if</span> (options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">timeout_callback</a>)</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;          timeout_mgr_callback = std::bind(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">timeout_callback</a>, <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a>(), std::placeholders::_1);</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;          timeout_mgr_callback = std::bind(&amp;Impl::default_timeout_callback, <span class="keyword">this</span>, <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a>(), std::placeholders::_1);</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <span class="comment">// register the timeout callback with the TimeoutManager</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        m_timeout_id = m_timeout_manager-&gt;registerNew(options.<a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">no_message_timeout</a>, timeout_mgr_callback);</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      }</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">const</span> std::string msg = <span class="stringliteral">&quot;Subscribed to topic &#39;&quot;</span> + m_topic_name + <span class="stringliteral">&quot;&#39; -&gt; &#39;&quot;</span> + <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a>() + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        ROS_INFO_STREAM(msg);</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: &quot;</span> &lt;&lt; msg);</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    }</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">Impl</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">/* getMsg() method //{ */</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">virtual</span> <span class="keyword">typename</span> MessageType::ConstPtr <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>()</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      m_new_data = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      m_used_data = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">peekMsg</a>();</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">/* peekMsg() method //{ */</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">virtual</span> <span class="keyword">typename</span> MessageType::ConstPtr <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">peekMsg</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="comment">/* assert(m_got_data); */</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">/* if (!m_got_data) */</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="comment">/*   ROS_ERROR(&quot;[%s]: No data received yet from topic &#39;%s&#39; (forgot to check hasMsg()?)! Returning empty message.&quot;, m_node_name.c_str(), */</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="comment">/*             topicName().c_str()); */</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordflow">return</span> m_latest_message;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    }</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">/* hasMsg() method //{ */</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">hasMsg</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordflow">return</span> m_got_data;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    }</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="comment">/* newMsg() method //{ */</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">newMsg</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">return</span> m_new_data;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">/* usedMsg() method //{ */</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">usedMsg</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">return</span> m_used_data;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    }</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="comment">/* waitForNew() method //{ */</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">virtual</span> <span class="keyword">typename</span> MessageType::ConstPtr <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">waitForNew</a>(<span class="keyword">const</span> ros::WallDuration&amp; timeout)</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="comment">// convert the ros type to chrono type</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">const</span> std::chrono::duration&lt;float&gt; chrono_timeout(timeout.toSec());</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="comment">// lock the mutex guarding the m_new_data flag</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      std::unique_lock lock(m_new_data_mtx);</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">// if new data is available, return immediately, otherwise attempt to wait for new data using the respective condition variable</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordflow">if</span> (m_new_data)</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>();</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (m_new_data_cv.wait_for(lock, chrono_timeout) == std::cv_status::no_timeout &amp;&amp; m_new_data)</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>();</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    };</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">/* lastMsgTime() method //{ */</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">virtual</span> ros::Time <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">lastMsgTime</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">return</span> m_latest_message_time;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    };</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="comment">/* topicName() method //{ */</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">virtual</span> std::string <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      std::string ret = m_sub.getTopic();</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordflow">if</span> (ret.empty())</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        ret = m_nh.resolveName(m_topic_name);</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    }</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">/* start() method //{ */</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">start</a>()</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">if</span> (m_timeout_manager)</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        m_timeout_manager-&gt;start(m_timeout_id);</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &amp;Impl::data_callback, <span class="keyword">this</span>, m_transport_hints);</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    }</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">/* stop() method //{ */</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">stop</a>()</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    {</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordflow">if</span> (m_timeout_manager)</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        m_timeout_manager-&gt;pause(m_timeout_id);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      m_sub.shutdown();</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    ros::NodeHandle m_nh;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    ros::Subscriber m_sub;</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    std::string m_topic_name;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    std::string m_node_name;</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">bool</span> m_got_data;   <span class="comment">// whether any data was received</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keyword">mutable</span> std::mutex m_new_data_mtx;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">mutable</span> std::condition_variable m_new_data_cv;</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">bool</span> m_new_data;   <span class="comment">// whether new data was received since last call to get_data</span></div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">bool</span> m_used_data;  <span class="comment">// whether get_data was successfully called at least once</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    std::shared_ptr&lt;mrs_lib::TimeoutManager&gt; m_timeout_manager;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    mrs_lib::TimeoutManager::timeout_id_t m_timeout_id;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    ros::Time m_latest_message_time;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">typename</span> MessageType::ConstPtr m_latest_message;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    message_callback_t m_message_callback;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    uint32_t m_queue_size;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    ros::TransportHints m_transport_hints;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="comment">/* default_timeout_callback() method //{ */</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">void</span> default_timeout_callback(<span class="keyword">const</span> std::string&amp; topic_name, <span class="keyword">const</span> ros::Time&amp; last_msg)</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    {</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">const</span> ros::Duration since_msg = (ros::Time::now() - last_msg);</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">const</span> <span class="keyword">auto</span> n_pubs = m_sub.getNumPublishers();</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">const</span> std::string txt = <span class="stringliteral">&quot;Did not receive any message from topic &#39;&quot;</span> + topic_name + <span class="stringliteral">&quot;&#39; for &quot;</span> + std::to_string(since_msg.toSec()) + <span class="stringliteral">&quot;s (&quot;</span></div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                              + std::to_string(n_pubs) + <span class="stringliteral">&quot; publishers on this topic)&quot;</span>;</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keywordflow">if</span> (m_node_name.empty())</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        ROS_WARN_STREAM(txt);</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        ROS_WARN_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; m_node_name &lt;&lt; <span class="stringliteral">&quot;]: &quot;</span> &lt;&lt; txt);</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="comment">/* process_new_message() method //{ */</span></div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordtype">void</span> process_new_message(<span class="keyword">const</span> <span class="keyword">typename</span> MessageType::ConstPtr&amp; msg)</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    {</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      m_latest_message_time = ros::Time::now();</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      m_latest_message = msg;</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="comment">// If the message callback is registered, the new data will immediately be processed,</span></div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="comment">// so reset the flag. Otherwise, set the flag.</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      m_new_data = !m_message_callback;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      m_got_data = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      m_new_data_cv.notify_one();</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="comment">/* data_callback() method //{ */</span></div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> data_callback(<span class="keyword">const</span> <span class="keyword">typename</span> MessageType::ConstPtr&amp; msg)</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    {</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      {</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        std::lock_guard lck(m_new_data_mtx);</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">if</span> (m_timeout_manager)</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          m_timeout_manager-&gt;reset(m_timeout_id);</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        process_new_message(msg);</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      }</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="comment">// execute the callback after unlocking the mutex to enable multi-threaded callback execution</span></div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keywordflow">if</span> (m_message_callback)</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        m_message_callback(msg);</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    }</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  };</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">/* SubscribeHandler_threadsafe class //{ */</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> MessageType&gt;</div>
+<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">  241</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt;MessageType&gt;::<a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">ImplThreadsafe</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt;MessageType&gt;<a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">::Impl</a></div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  {</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">impl_class_t</a> = <a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">SubscribeHandler&lt;MessageType&gt;::Impl</a>;</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keyword">using</span> timeout_callback_t = <span class="keyword">typename</span> impl_class_t::timeout_callback_t;</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keyword">using</span> message_callback_t = <span class="keyword">typename</span> impl_class_t::message_callback_t;</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">SubscribeHandler</a>&lt;MessageType&gt;;</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">ImplThreadsafe</a>(<span class="keyword">const</span> <a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">SubscribeHandlerOptions</a>&amp; options, <span class="keyword">const</span> message_callback_t&amp; message_callback = <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">message_callback_t</a>())</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        : impl_class_t::Impl(options, message_callback)</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    {</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">hasMsg</a>()<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordflow">return</span> impl_class_t::hasMsg();</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    }</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">newMsg</a>()<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keywordflow">return</span> impl_class_t::newMsg();</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    }</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">usedMsg</a>()<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keywordflow">return</span> impl_class_t::usedMsg();</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    }</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keyword">virtual</span> <span class="keyword">typename</span> MessageType::ConstPtr <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>()<span class="keyword"> override</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordflow">return</span> impl_class_t::getMsg();</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    }</div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keyword">virtual</span> <span class="keyword">typename</span> MessageType::ConstPtr <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">peekMsg</a>()<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <span class="keywordflow">return</span> impl_class_t::peekMsg();</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    }</div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keyword">virtual</span> ros::Time <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">lastMsgTime</a>()<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordflow">return</span> impl_class_t::lastMsgTime();</div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    };</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keyword">virtual</span> std::string <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">topicName</a>()<span class="keyword"> const override</span></div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="keywordflow">return</span> impl_class_t::topicName();</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    };</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">start</a>()<span class="keyword"> override</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keywordflow">return</span> impl_class_t::start();</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    }</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">stop</a>()<span class="keyword"> override</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      std::lock_guard lck(m_mtx);</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">return</span> impl_class_t::stop();</div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    }</div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">ImplThreadsafe</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
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+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> data_callback(<span class="keyword">const</span> <span class="keyword">typename</span> MessageType::ConstPtr&amp; msg)<span class="keyword"> override</span></div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="keyword">    </span>{</div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      {</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        std::scoped_lock lck(m_mtx, this-&gt;m_new_data_mtx);</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <span class="keywordflow">if</span> (this-&gt;m_timeout_manager)</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;          this-&gt;m_timeout_manager-&gt;reset(this-&gt;m_timeout_id);</div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        impl_class_t::process_new_message(msg);</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      }</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="comment">// execute the callback after unlocking the mutex to enable multi-threaded callback execution</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keywordflow">if</span> (this-&gt;m_message_callback)</div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        impl_class_t::m_message_callback(msg);</div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    }</div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keyword">mutable</span> std::recursive_mutex m_mtx;</div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  };</div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="preprocessor">#endif  // SUBSCRIBE_HANDLER_HPP</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a5abe6590d88b396d94cce7a7ae652e09"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5abe6590d88b396d94cce7a7ae652e09">mrs_lib::SubscribeHandlerOptions::queue_size</a></div><div class="ttdeci">uint32_t queue_size</div><div class="ttdoc">This parameter is passed to the NodeHandle when subscribing to the topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a9c6bcd07e10b60c70f02de2c6d5f632e"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a9c6bcd07e10b60c70f02de2c6d5f632e">mrs_lib::SubscribeHandler::hasMsg</a></div><div class="ttdeci">virtual bool hasMsg() const</div><div class="ttdoc">Used to check whether at least one message has been received on the handled topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:120</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a50dd6637eb0800d0ee53c1cd6cee058e"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a50dd6637eb0800d0ee53c1cd6cee058e">mrs_lib::SubscribeHandlerOptions::timeout_manager</a></div><div class="ttdeci">std::shared_ptr&lt; mrs_lib::TimeoutManager &gt; timeout_manager</div><div class="ttdoc">Will be used for handling message timouts if necessary. If no manager is specified,...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a6f12a82506c6967a8af9c2c878a1803a"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a6f12a82506c6967a8af9c2c878a1803a">mrs_lib::SubscribeHandler::timeout_callback_t</a></div><div class="ttdeci">std::function&lt; void(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&gt; timeout_callback_t</div><div class="ttdoc">Type for the timeout callback function.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:91</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_ab027bb4a6edece35701e17ba0c137cfc"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#ab027bb4a6edece35701e17ba0c137cfc">mrs_lib::SubscribeHandler::usedMsg</a></div><div class="ttdeci">virtual bool usedMsg() const</div><div class="ttdoc">Used to check whether getMsg() was called at least once on this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:134</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a41f19ca415439152b934b3633933ec25"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a41f19ca415439152b934b3633933ec25">mrs_lib::SubscribeHandlerOptions::transport_hints</a></div><div class="ttdeci">ros::TransportHints transport_hints</div><div class="ttdoc">This parameter is passed to the NodeHandle when subscribing to the topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:52</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></div><div class="ttdoc">A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a36a097cf480a16bf239885be6e35b5d0"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a36a097cf480a16bf239885be6e35b5d0">mrs_lib::SubscribeHandler::stop</a></div><div class="ttdeci">virtual void stop()</div><div class="ttdoc">Disables the callbacks for the handled topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:178</div></div>
+<div class="ttc" id="asubscribe__handler_8h_html"><div class="ttname"><a href="subscribe__handler_8h.html">subscribe_handler.h</a></div><div class="ttdoc">Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a19a708c3f200ccfac2695a649b9d6e77"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">mrs_lib::SubscribeHandler::getMsg</a></div><div class="ttdeci">virtual MessageType::ConstPtr getMsg()</div><div class="ttdoc">Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:106</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_af8bc123e16de75e3b6c00724b817eaaf"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#af8bc123e16de75e3b6c00724b817eaaf">mrs_lib::SubscribeHandler::start</a></div><div class="ttdeci">virtual void start()</div><div class="ttdoc">Enables the callbacks for the handled topic.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:170</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a></div><div class="ttdoc">The main class for ROS topic subscription, message timeout handling etc.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:80</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a5702cb78ed291f5e36c960d0f90bb35c"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">mrs_lib::SubscribeHandlerOptions::no_message_timeout</a></div><div class="ttdeci">ros::Duration no_message_timeout</div><div class="ttdoc">If no new message is received for this duration, the timeout_callback function will be called....</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:42</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a94f4bedf9229325ca6a14202f5cfbcc5"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a94f4bedf9229325ca6a14202f5cfbcc5">mrs_lib::SubscribeHandler::waitForNew</a></div><div class="ttdeci">virtual MessageType::ConstPtr waitForNew(const ros::WallDuration &amp;timeout)</div><div class="ttdoc">Blocks until new data becomes available or until the timeout runs out or until a spurious wake-up.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:141</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_1_1Impl_html"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler_1_1Impl.html">mrs_lib::SubscribeHandler::Impl</a></div><div class="ttdef"><b>Definition:</b> subscribe_handler.hpp:16</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a3d31e2d693f41df180cd6911a3fb8310"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">mrs_lib::SubscribeHandlerOptions::node_name</a></div><div class="ttdeci">std::string node_name</div><div class="ttdoc">Name of the ROS node, using this handle (used for messages printed to console).</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:36</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a6638d8d589149edba21bf08fa571f18e"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a6638d8d589149edba21bf08fa571f18e">mrs_lib::SubscribeHandler::peekMsg</a></div><div class="ttdeci">virtual MessageType::ConstPtr peekMsg() const</div><div class="ttdoc">Returns the last received message on the topic without modifying the newMsg() or usedMsg() flags.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:113</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_aba6f6f262bfeae0d1f6f39bb778d04af"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#aba6f6f262bfeae0d1f6f39bb778d04af">mrs_lib::SubscribeHandlerOptions::timeout_callback</a></div><div class="ttdeci">std::function&lt; void(const std::string &amp;topic_name, const ros::Time &amp;last_msg)&gt; timeout_callback</div><div class="ttdoc">This function will be called if no new message is received for the no_message_timeout duration....</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:44</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a512ffa88a2164e420f1c4a6ae1823e68"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a512ffa88a2164e420f1c4a6ae1823e68">mrs_lib::SubscribeHandler::topicName</a></div><div class="ttdeci">virtual std::string topicName() const</div><div class="ttdoc">Returns the resolved (full) name of the topic, handled by this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:155</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a374f745d46497064c62909412ebdf266"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a374f745d46497064c62909412ebdf266">mrs_lib::SubscribeHandlerOptions::topic_name</a></div><div class="ttdeci">std::string topic_name</div><div class="ttdoc">Name of the ROS topic to be handled.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a38b7371b24896e5ea21f5a8dd2821cf6"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a38b7371b24896e5ea21f5a8dd2821cf6">mrs_lib::SubscribeHandler::message_callback_t</a></div><div class="ttdeci">std::function&lt; void(typename MessageType::ConstPtr)&gt; message_callback_t</div><div class="ttdoc">Convenience type for the message callback function.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:96</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a46bde5660a9480814caa801e2baf3cd3"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">mrs_lib::SubscribeHandler::newMsg</a></div><div class="ttdeci">virtual bool newMsg() const</div><div class="ttdoc">Used to check whether at least one message has been received on the handled topic since the last call...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:127</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_ac5f6fabbc933d7e3f9beba07b166c054"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#ac5f6fabbc933d7e3f9beba07b166c054">mrs_lib::SubscribeHandlerOptions::nh</a></div><div class="ttdeci">ros::NodeHandle nh</div><div class="ttdoc">The ROS NodeHandle to be used for subscription.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:34</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_ab96777b29e74827ad109346504565f9b"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#ab96777b29e74827ad109346504565f9b">mrs_lib::SubscribeHandler::lastMsgTime</a></div><div class="ttdeci">virtual ros::Time lastMsgTime() const</div><div class="ttdoc">Returns time of the last received message on the topic, handled by this SubscribeHandler.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:148</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe_html"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler_1_1ImplThreadsafe.html">mrs_lib::SubscribeHandler::ImplThreadsafe</a></div><div class="ttdef"><b>Definition:</b> subscribe_handler.hpp:241</div></div>
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+<div class="title">subscribe_handler/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> subscribe_handler_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the SubscribeHandler header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="subscribe__handler_8h.html">mrs_lib/subscribe_handler.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;mrs_lib/impl/subscribe_handler.hpp&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;std_msgs/String.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> timeout_callback(<span class="keyword">const</span> std::string&amp; topic_name, <span class="keyword">const</span> ros::Time&amp; last_msg)</div>
+<div class="line">{</div>
+<div class="line">  ROS_ERROR_STREAM(<span class="stringliteral">&quot;Have not received a message on topic &#39;&quot;</span> &lt;&lt; topic_name &lt;&lt; <span class="stringliteral">&quot;&#39; for &quot;</span> &lt;&lt; (ros::Time::now() - last_msg).toSec() &lt;&lt; <span class="stringliteral">&quot; seconds&quot;</span>);</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">void</span> message_callback(<span class="keyword">const</span> std_msgs::String::ConstPtr msg)</div>
+<div class="line">{</div>
+<div class="line">  ROS_INFO_STREAM(<span class="stringliteral">&quot;Received: &#39;&quot;</span> &lt;&lt; msg-&gt;data &lt;&lt; <span class="stringliteral">&quot;&#39;.&quot;</span>);</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">class </span><a name="_a0"></a><a class="code" href="classSubObject.html">SubObject</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">public</span>:</div>
+<div class="line">    <span class="keywordtype">void</span> callback_method(<span class="keyword">const</span> std_msgs::String::ConstPtr msg)</div>
+<div class="line">    {</div>
+<div class="line">      ROS_INFO_STREAM(<span class="stringliteral">&quot;Object received: &#39;&quot;</span> &lt;&lt; msg-&gt;data &lt;&lt; <span class="stringliteral">&quot;&#39;.&quot;</span>);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="keywordtype">void</span> timeout_method(<span class="keyword">const</span> std::string&amp; topic_name, <span class="keyword">const</span> ros::Time&amp; last_msg)</div>
+<div class="line">    {</div>
+<div class="line">      ROS_ERROR_STREAM(<span class="stringliteral">&quot;Object has not received a message on topic &#39;&quot;</span> &lt;&lt; topic_name &lt;&lt; <span class="stringliteral">&quot;&#39; for &quot;</span> &lt;&lt; (ros::Time::now()-last_msg).toSec() &lt;&lt; <span class="stringliteral">&quot; seconds&quot;</span>);</div>
+<div class="line">    }</div>
+<div class="line">} sub_obj;</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">/* Set up ROS. */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string node_name(<span class="stringliteral">&quot;subscribe_handler_example&quot;</span>);</div>
+<div class="line">  ros::init(argc, argv, node_name);</div>
+<div class="line">  ros::NodeHandle nh;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* name of the topic to be handled */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string topic_name = <span class="stringliteral">&quot;test_topic&quot;</span>;</div>
+<div class="line">  <span class="comment">/* after this duration without receiving messages on the handled topic, the timeout_callback will be called */</span></div>
+<div class="line">  <span class="keyword">const</span> ros::Duration no_message_timeout = ros::Duration(1.0);</div>
+<div class="line"> </div>
+<div class="line">  ROS_INFO(<span class="stringliteral">&quot;[%s]: Creating SubscribeHandlers.&quot;</span>, node_name.c_str());</div>
+<div class="line"> </div>
+<div class="line">  <a name="_a1"></a><a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a> shopts(nh);</div>
+<div class="line">  shopts.node_name = node_name;</div>
+<div class="line">  shopts.no_message_timeout = no_message_timeout;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* This is how a new SubscribeHandler object is initialized. */</span> </div>
+<div class="line">  <a name="_a2"></a><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt;std_msgs::String&gt;</a> handler(</div>
+<div class="line">            shopts,</div>
+<div class="line">            topic_name,</div>
+<div class="line">            timeout_callback,</div>
+<div class="line">            message_callback</div>
+<div class="line">            );</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* A variation of the factory method for easier use with objects also exists. */</span> </div>
+<div class="line">  <a name="a3"></a><a class="code" href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">mrs_lib::construct_object</a>(</div>
+<div class="line">            handler,</div>
+<div class="line">            shopts,</div>
+<div class="line">            topic_name,</div>
+<div class="line">            no_message_timeout,</div>
+<div class="line">            &amp;SubObject::timeout_method, &amp;sub_obj,</div>
+<div class="line">            &amp;SubObject::callback_method, &amp;sub_obj</div>
+<div class="line">            );</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Type of the message may be accessed by C++11 decltype in case of need */</span> </div>
+<div class="line">  <span class="keyword">using</span> <a name="a4"></a><a class="code" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">message_type</a> = <a class="code" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">mrs_lib::message_type</a>&lt;decltype(handler)&gt;;</div>
+<div class="line">  ros::Publisher pub = nh.advertise&lt;<a class="code" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">message_type</a>&gt;(topic_name, 5);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Now let&#39;s just spin to process calbacks until the user decides to stop the program. */</span> </div>
+<div class="line">  ros::Duration d(3.0);</div>
+<div class="line">  <span class="keywordflow">while</span> (ros::ok())</div>
+<div class="line">  {</div>
+<div class="line">    <a class="code" href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">message_type</a> msg;</div>
+<div class="line">    msg.data = <span class="stringliteral">&quot;asdf&quot;</span>;</div>
+<div class="line">    pub.publish(msg);</div>
+<div class="line">    ROS_INFO_THROTTLE(1.0, <span class="stringliteral">&quot;[%s]: Spinning&quot;</span>, ros::this_node::getName().c_str());</div>
+<div class="line">    ros::spinOnce();</div>
+<div class="line">    d.sleep();</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></div><div class="ttdoc">A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:29</div></div>
+<div class="ttc" id="asubscribe__handler_8h_html"><div class="ttname"><a href="subscribe__handler_8h.html">subscribe_handler.h</a></div><div class="ttdoc">Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a></div><div class="ttdoc">The main class for ROS topic subscription, message timeout handling etc.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:80</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_afe10d9f91cc2173fa3c30021514a5c12"><div class="ttname"><a href="namespacemrs__lib.html#afe10d9f91cc2173fa3c30021514a5c12">mrs_lib::message_type</a></div><div class="ttdeci">typename SubscribeHandler::message_type message_type</div><div class="ttdoc">Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:441</div></div>
+<div class="ttc" id="aclassSubObject_html"><div class="ttname"><a href="classSubObject.html">SubObject</a></div><div class="ttdef"><b>Definition:</b> example.cpp:31</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_a6bd2a4b1c7a370ecf5abcb082d68f02f"><div class="ttname"><a href="namespacemrs__lib.html#a6bd2a4b1c7a370ecf5abcb082d68f02f">mrs_lib::construct_object</a></div><div class="ttdeci">void construct_object(Class &amp;object, Types ... args)</div><div class="ttdoc">Helper function for object construstion e.g. in case of member objects. This function is useful to av...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:453</div></div>
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diff --git a/subscribe_handler_2simple_example_8cpp-example.html b/subscribe_handler_2simple_example_8cpp-example.html
new file mode 100644
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+  <div class="headertitle">
+<div class="title">subscribe_handler/simple_example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> subscribe_handler_simple_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the SubscribeHandler header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="subscribe__handler_8h.html">mrs_lib/subscribe_handler.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;std_msgs/String.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">/* Set up ROS. */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string node_name = <span class="stringliteral">&quot;subscribe_handler_simple_example&quot;</span>;</div>
+<div class="line">  ros::init(argc, argv, node_name);</div>
+<div class="line">  ros::NodeHandle nh;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Basic configuration of the SubscribeHandler. */</span></div>
+<div class="line">  <a name="_a0"></a><a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a> shopts(nh);</div>
+<div class="line">  shopts.<a name="a1"></a><a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">node_name</a> = node_name;                       <span class="comment">//&lt; used for the ROS logging from inside the SubscribeHandler (ROS_INFO, ROS_WARN etc.)</span></div>
+<div class="line">  shopts.<a name="a2"></a><a class="code" href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">no_message_timeout</a> = ros::Duration(3.0);     <span class="comment">//&lt; SubscribeHandler warns if no messages arrive for this duration</span></div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* name of the topic to be handled */</span></div>
+<div class="line">  <span class="keyword">const</span> std::string topic_name = <span class="stringliteral">&quot;test_topic&quot;</span>;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* This is how a new SubscribeHandler object is initialized. */</span> </div>
+<div class="line">  <a name="_a3"></a><a class="code" href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler&lt;std_msgs::String&gt;</a> handler(</div>
+<div class="line">            shopts,</div>
+<div class="line">            topic_name</div>
+<div class="line">            );</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">/* Now let&#39;s just spin to process calbacks until the user decides to stop the program. */</span> </div>
+<div class="line">  ros::Duration d(0.1);</div>
+<div class="line">  <span class="keywordflow">while</span> (ros::ok())</div>
+<div class="line">  {</div>
+<div class="line">    ROS_INFO_STREAM_THROTTLE(1.0, <span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt; <span class="stringliteral">&quot;]: Spinning&quot;</span>);</div>
+<div class="line">    ros::spinOnce();</div>
+<div class="line">    <span class="comment">/* Print out any new messages */</span></div>
+<div class="line">    <span class="keywordflow">if</span> (handler.<a name="a4"></a><a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">newMsg</a>())</div>
+<div class="line">      ROS_INFO_STREAM(<span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name &lt;&lt; <span class="stringliteral">&quot;]: Got a new message: &quot;</span> &lt;&lt; handler.<a name="a5"></a><a class="code" href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">getMsg</a>()-&gt;data);</div>
+<div class="line">    d.sleep();</div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html">mrs_lib::SubscribeHandlerOptions</a></div><div class="ttdoc">A helper class to simplify setup of SubscribeHandler construction. This class is passed to the Subscr...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:29</div></div>
+<div class="ttc" id="asubscribe__handler_8h_html"><div class="ttname"><a href="subscribe__handler_8h.html">subscribe_handler.h</a></div><div class="ttdoc">Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a19a708c3f200ccfac2695a649b9d6e77"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a19a708c3f200ccfac2695a649b9d6e77">mrs_lib::SubscribeHandler::getMsg</a></div><div class="ttdeci">virtual MessageType::ConstPtr getMsg()</div><div class="ttdoc">Returns the last received message on the topic, handled by this SubscribeHandler. Use hasMsg() first ...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:106</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html">mrs_lib::SubscribeHandler</a></div><div class="ttdoc">The main class for ROS topic subscription, message timeout handling etc.</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:80</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a5702cb78ed291f5e36c960d0f90bb35c"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a5702cb78ed291f5e36c960d0f90bb35c">mrs_lib::SubscribeHandlerOptions::no_message_timeout</a></div><div class="ttdeci">ros::Duration no_message_timeout</div><div class="ttdoc">If no new message is received for this duration, the timeout_callback function will be called....</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:42</div></div>
+<div class="ttc" id="astructmrs__lib_1_1SubscribeHandlerOptions_html_a3d31e2d693f41df180cd6911a3fb8310"><div class="ttname"><a href="structmrs__lib_1_1SubscribeHandlerOptions.html#a3d31e2d693f41df180cd6911a3fb8310">mrs_lib::SubscribeHandlerOptions::node_name</a></div><div class="ttdeci">std::string node_name</div><div class="ttdoc">Name of the ROS node, using this handle (used for messages printed to console).</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1SubscribeHandler_html_a46bde5660a9480814caa801e2baf3cd3"><div class="ttname"><a href="classmrs__lib_1_1SubscribeHandler.html#a46bde5660a9480814caa801e2baf3cd3">mrs_lib::SubscribeHandler::newMsg</a></div><div class="ttdeci">virtual bool newMsg() const</div><div class="ttdoc">Used to check whether at least one message has been received on the handled topic since the last call...</div><div class="ttdef"><b>Definition:</b> subscribe_handler.h:127</div></div>
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+<a href="timeout__manager_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef TIMEOUT_MANAGER_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define TIMEOUT_MANAGER_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;{</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">/* TimeoutManager class //{ */</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1TimeoutManager.html">   19</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1TimeoutManager.html">TimeoutManager</a></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  {</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      <span class="comment">// | ---------------------- public types ---------------------- |</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">using</span> timeout_id_t = size_t;</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      <span class="keyword">using</span> callback_t = std::function&lt;void(<span class="keyword">const</span> ros::Time&amp;)&gt;;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;      <span class="comment">// | --------------------- public methods --------------------- |</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      <a class="code" href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">TimeoutManager</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Rate&amp; update_rate);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      timeout_id_t registerNew(<span class="keyword">const</span> ros::Duration&amp; timeout, <span class="keyword">const</span> callback_t&amp; callback, <span class="keyword">const</span> ros::Time&amp; last_reset = ros::Time::now(), <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordtype">void</span> reset(<span class="keyword">const</span> timeout_id_t <span class="keywordtype">id</span>, <span class="keyword">const</span> ros::Time&amp; time = ros::Time::now());</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keywordtype">void</span> pause(<span class="keyword">const</span> timeout_id_t <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;      <span class="keywordtype">void</span> start(<span class="keyword">const</span> timeout_id_t <span class="keywordtype">id</span>, <span class="keyword">const</span> ros::Time&amp; time = ros::Time::now());</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keywordtype">void</span> pauseAll();</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keywordtype">void</span> startAll(<span class="keyword">const</span> ros::Time&amp; time = ros::Time::now());</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keywordtype">void</span> change(<span class="keyword">const</span> timeout_id_t <span class="keywordtype">id</span>, <span class="keyword">const</span> ros::Duration&amp; timeout, <span class="keyword">const</span> callback_t&amp; callback, <span class="keyword">const</span> ros::Time&amp; last_reset = ros::Time::now(), <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      ros::Time lastReset(<span class="keyword">const</span> timeout_id_t <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keywordtype">bool</span> started(<span class="keyword">const</span> timeout_id_t <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="comment">/* implementation details //{ */</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="comment">// | ---------------------- private types --------------------- |</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keyword">struct </span>timeout_info_t</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        {</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;          <span class="keywordtype">bool</span> oneshot;</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          <span class="keywordtype">bool</span> started;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          callback_t callback;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          ros::Duration timeout;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          ros::Time last_reset;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          ros::Time last_callback;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        };</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="comment">// | --------------------- private methods -------------------- |</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordtype">void</span> main_timer_callback([[maybe_unused]] <span class="keyword">const</span> ros::TimerEvent&amp; evt);</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="comment">// | ------------------------- members ------------------------ |</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        std::recursive_mutex m_mtx;</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        timeout_id_t m_last_id;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        std::vector&lt;timeout_info_t&gt; m_timeouts;</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        ros::Timer m_main_timer;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="comment">//}</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  };</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="preprocessor">#endif // TIMEOUT_MANAGER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1TimeoutManager_html_a7627ccd5204a4f13c832db2cb558128f"><div class="ttname"><a href="classmrs__lib_1_1TimeoutManager.html#a7627ccd5204a4f13c832db2cb558128f">mrs_lib::TimeoutManager::TimeoutManager</a></div><div class="ttdeci">TimeoutManager(const ros::NodeHandle &amp;nh, const ros::Rate &amp;update_rate)</div><div class="ttdoc">TODO.</div><div class="ttdef"><b>Definition:</b> timeout_manager.cpp:6</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1TimeoutManager_html"><div class="ttname"><a href="classmrs__lib_1_1TimeoutManager.html">mrs_lib::TimeoutManager</a></div><div class="ttdoc">TODO.</div><div class="ttdef"><b>Definition:</b> timeout_manager.h:19</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">timer.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef MRS_TIMER_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define MRS_TIMER_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;condition_variable&gt;</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="keywordtype">bool</span> breakable_sleep(<span class="keyword">const</span> ros::Duration&amp; dur, <span class="keyword">const</span> std::atomic&lt;bool&gt;&amp; continue_sleep);</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1MRSTimer.html">   23</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  {</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">using</span> callback_t = std::function&lt;void(<span class="keyword">const</span> ros::TimerEvent&amp;)&gt;;</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">stop</a>() = 0;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">start</a>() = 0;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">setPeriod</a>(<span class="keyword">const</span> ros::Duration&amp; duration, <span class="keyword">const</span> <span class="keywordtype">bool</span> reset = <span class="keyword">true</span>) = 0;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">running</a>() = 0;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>&amp;) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>(<a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>&amp;&amp;) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>&amp;) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>&amp; operator=(<a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>&amp;&amp;) = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  };</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
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+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">/* class ROSTimer //{ */</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ROSTimer.html">   70</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> {</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>();</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Rate&amp; rate, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;), ObjectType* <span class="keyword">const</span> obj,</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Duration&amp; duration, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;), ObjectType* <span class="keyword">const</span> obj,</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">stop</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ROSTimer.html#afd70b40e8e4b84b48215eeafc5e27520">start</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">setPeriod</a>(<span class="keyword">const</span> ros::Duration&amp; duration, <span class="keyword">const</span> <span class="keywordtype">bool</span> reset = <span class="keyword">true</span>) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">running</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>()<span class="keyword"> override </span>{<a class="code" href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">stop</a>();};</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">// to keep rule of five since we have a custom destructor</span></div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>(<a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>&amp;&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>&amp; operator=(<a class="code" href="classmrs__lib_1_1ROSTimer.html">ROSTimer</a>&amp;&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    std::mutex mutex_timer_;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    std::unique_ptr&lt;ros::Timer&gt; timer_;</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  };</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">// | ----------------------- ThreadTimer ---------------------- |</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="comment">/* class ThreadTimer //{ */</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
+<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ThreadTimer.html">  151</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a> : <span class="keyword">public</span> <a class="code" href="classmrs__lib_1_1MRSTimer.html">MRSTimer</a> {</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>();</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Rate&amp; rate, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;), ObjectType* <span class="keyword">const</span> obj,</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Duration&amp; duration, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;), ObjectType* <span class="keyword">const</span> obj,</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                <span class="keywordtype">bool</span> oneshot = <span class="keyword">false</span>, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">stop</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">start</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">setPeriod</a>(<span class="keyword">const</span> ros::Duration&amp; duration, <span class="keyword">const</span> <span class="keywordtype">bool</span> reset = <span class="keyword">true</span>) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">running</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
+<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">  224</a></span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">~ThreadTimer</a>()<span class="keyword"> override </span>{<a class="code" href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">stop</a>();};</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="comment">// to keep rule of five since we have a custom destructor</span></div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>(<a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>&amp;&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>&amp; operator=(<a class="code" href="classmrs__lib_1_1ThreadTimer.html">ThreadTimer</a>&amp;&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keyword">class </span>Impl;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    std::unique_ptr&lt;Impl&gt; impl_;</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  };  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/impl/timer.hpp&gt;</span></div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">#endif  // MRS_TIMER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1ThreadTimer_html_a175a2bcce428cfca8bbf3f4ef836f4ed"><div class="ttname"><a href="classmrs__lib_1_1ThreadTimer.html#a175a2bcce428cfca8bbf3f4ef836f4ed">mrs_lib::ThreadTimer::~ThreadTimer</a></div><div class="ttdeci">virtual ~ThreadTimer() override</div><div class="ttdoc">stops the timer and then destroys the object</div><div class="ttdef"><b>Definition:</b> timer.h:224</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ThreadTimer_html_a26d89795a716aa2ae6d7f890626c0aaa"><div class="ttname"><a href="classmrs__lib_1_1ThreadTimer.html#a26d89795a716aa2ae6d7f890626c0aaa">mrs_lib::ThreadTimer::stop</a></div><div class="ttdeci">virtual void stop() override</div><div class="ttdoc">stop the timer</div><div class="ttdef"><b>Definition:</b> timer.cpp:76</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ROSTimer_html_afd70b40e8e4b84b48215eeafc5e27520"><div class="ttname"><a href="classmrs__lib_1_1ROSTimer.html#afd70b40e8e4b84b48215eeafc5e27520">mrs_lib::ROSTimer::start</a></div><div class="ttdeci">virtual void start() override</div><div class="ttdoc">start the timer</div><div class="ttdef"><b>Definition:</b> timer.cpp:23</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MRSTimer_html_acf818ea5cffe17b89ed00866ca7cbeff"><div class="ttname"><a href="classmrs__lib_1_1MRSTimer.html#acf818ea5cffe17b89ed00866ca7cbeff">mrs_lib::MRSTimer::setPeriod</a></div><div class="ttdeci">virtual void setPeriod(const ros::Duration &amp;duration, const bool reset=true)=0</div><div class="ttdoc">set the timer period/duration</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ROSTimer_html_af5074139258db68cf314b1bf4868243a"><div class="ttname"><a href="classmrs__lib_1_1ROSTimer.html#af5074139258db68cf314b1bf4868243a">mrs_lib::ROSTimer::running</a></div><div class="ttdeci">virtual bool running() override</div><div class="ttdoc">returns true if callbacks should be called</div><div class="ttdef"><b>Definition:</b> timer.cpp:49</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MRSTimer_html_afda0c038cd360ccaa71b95227e413b44"><div class="ttname"><a href="classmrs__lib_1_1MRSTimer.html#afda0c038cd360ccaa71b95227e413b44">mrs_lib::MRSTimer::start</a></div><div class="ttdeci">virtual void start()=0</div><div class="ttdoc">start the timer</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ROSTimer_html"><div class="ttname"><a href="classmrs__lib_1_1ROSTimer.html">mrs_lib::ROSTimer</a></div><div class="ttdoc">ros::Timer wrapper. The interface is the same as with ros::Timer, except for the initialization metho...</div><div class="ttdef"><b>Definition:</b> timer.h:70</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ROSTimer_html_a6a774123e3400848884fa83fe01e1955"><div class="ttname"><a href="classmrs__lib_1_1ROSTimer.html#a6a774123e3400848884fa83fe01e1955">mrs_lib::ROSTimer::stop</a></div><div class="ttdeci">virtual void stop() override</div><div class="ttdoc">stop the timer</div><div class="ttdef"><b>Definition:</b> timer.cpp:10</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MRSTimer_html_a54461ff4541da2848c3263e646ff928a"><div class="ttname"><a href="classmrs__lib_1_1MRSTimer.html#a54461ff4541da2848c3263e646ff928a">mrs_lib::MRSTimer::running</a></div><div class="ttdeci">virtual bool running()=0</div><div class="ttdoc">returns true if callbacks should be called</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ThreadTimer_html_ab3ecdba649fd5c849acd94ce9ad0c824"><div class="ttname"><a href="classmrs__lib_1_1ThreadTimer.html#ab3ecdba649fd5c849acd94ce9ad0c824">mrs_lib::ThreadTimer::running</a></div><div class="ttdeci">virtual bool running() override</div><div class="ttdoc">returns true if callbacks should be called</div><div class="ttdef"><b>Definition:</b> timer.cpp:98</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ROSTimer_html_a7dd4d03428c7abe2de8ea260a9a4eeff"><div class="ttname"><a href="classmrs__lib_1_1ROSTimer.html#a7dd4d03428c7abe2de8ea260a9a4eeff">mrs_lib::ROSTimer::setPeriod</a></div><div class="ttdeci">virtual void setPeriod(const ros::Duration &amp;duration, const bool reset=true) override</div><div class="ttdoc">set the timer period/duration</div><div class="ttdef"><b>Definition:</b> timer.cpp:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ThreadTimer_html_a038246468811544860d5d2d1c4091e2d"><div class="ttname"><a href="classmrs__lib_1_1ThreadTimer.html#a038246468811544860d5d2d1c4091e2d">mrs_lib::ThreadTimer::setPeriod</a></div><div class="ttdeci">virtual void setPeriod(const ros::Duration &amp;duration, const bool reset=true) override</div><div class="ttdoc">set the timer period/duration</div><div class="ttdef"><b>Definition:</b> timer.cpp:87</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MRSTimer_html_aeda0660a5031f17bb57f55f4166e737e"><div class="ttname"><a href="classmrs__lib_1_1MRSTimer.html#aeda0660a5031f17bb57f55f4166e737e">mrs_lib::MRSTimer::stop</a></div><div class="ttdeci">virtual void stop()=0</div><div class="ttdoc">stop the timer</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ThreadTimer_html_a0425600320550d52408d1499ee3d7891"><div class="ttname"><a href="classmrs__lib_1_1ThreadTimer.html#a0425600320550d52408d1499ee3d7891">mrs_lib::ThreadTimer::start</a></div><div class="ttdeci">virtual void start() override</div><div class="ttdoc">start the timer</div><div class="ttdef"><b>Definition:</b> timer.cpp:65</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1MRSTimer_html"><div class="ttname"><a href="classmrs__lib_1_1MRSTimer.html">mrs_lib::MRSTimer</a></div><div class="ttdoc">Common wrapper representing the functionality of the ros::Timer.</div><div class="ttdef"><b>Definition:</b> timer.h:23</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1ThreadTimer_html"><div class="ttname"><a href="classmrs__lib_1_1ThreadTimer.html">mrs_lib::ThreadTimer</a></div><div class="ttdoc">Custom thread-based Timers with the same interface as mrs_lib::ROSTimer.</div><div class="ttdef"><b>Definition:</b> timer.h:151</div></div>
+<!-- start footer part -->
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+<div class="title">timer.hpp</div>  </div>
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+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef MRS_TIMER_HPP</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define MRS_TIMER_HPP</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// | ------------------------ ROSTimer ------------------------ |</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">/* ROSTimer constructors //{ */</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// duration + oneshot + autostart</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;ROSTimer::ROSTimer(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Duration&amp; duration, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;),</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                   ObjectType* <span class="keyword">const</span> obj, <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart) {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  this-&gt;timer_ = std::make_unique&lt;ros::Timer&gt;(nh.createTimer(duration, callback, obj, oneshot, autostart));</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;}</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// rate + oneshot + autostart</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;ROSTimer::ROSTimer(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Rate&amp; rate, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;), ObjectType* <span class="keyword">const</span> obj,</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                   <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart) {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  this-&gt;timer_ = std::make_unique&lt;ros::Timer&gt;(nh.createTimer(rate, callback, obj, oneshot, autostart));</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;}</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// | ----------------------- ThreadTimer ---------------------- |</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">/* class ThreadTimer::Impl //{ */</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classThreadTimer_1_1Impl.html">   32</a></span>&#160;<span class="keyword">class </span><a class="code" href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a> {</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>(<span class="keyword">const</span> std::function&lt;<span class="keywordtype">void</span>(<span class="keyword">const</span> ros::TimerEvent&amp;)&gt;&amp; callback, <span class="keyword">const</span> ros::Duration&amp; delay_dur, <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot);</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  ~<a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>();</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> start();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> stop();</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> setPeriod(<span class="keyword">const</span> ros::Duration&amp; duration, <span class="keyword">const</span> <span class="keywordtype">bool</span> reset = <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">friend</span> <span class="keyword">class </span>ThreadTimer;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">// to keep rule of five since we have a custom destructor</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>(<span class="keyword">const</span> <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>(<a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>&amp;&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>&amp; operator=(<a class="code" href="classThreadTimer_1_1Impl.html">Impl</a>&amp;&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  std::thread thread_;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  std::function&lt;void(<span class="keyword">const</span> ros::TimerEvent&amp;)&gt; callback_;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">bool</span> oneshot_;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">bool</span> breakableSleep(<span class="keyword">const</span> ros::Time&amp; until);</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">void</span> threadFcn();</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  std::mutex mutex_wakeup_;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  std::condition_variable wakeup_cond_;</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  std::recursive_mutex mutex_state_;</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">bool</span> running_;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  ros::Duration delay_dur_;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">bool</span> ending_;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  ros::Time next_expected_;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  ros::Time last_expected_;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  ros::Time last_real_;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;};</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">/* ThreadTimer constructors and destructors//{ */</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;ThreadTimer::ThreadTimer([[maybe_unused]] <span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Rate&amp; rate, <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;),</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                         ObjectType* <span class="keyword">const</span> obj, <span class="keyword">const</span> <span class="keywordtype">bool</span> oneshot, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart)</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  : ThreadTimer(nh, rate.expectedCycleTime(), callback, obj, oneshot, autostart)</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> ObjectType&gt;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;ThreadTimer::ThreadTimer([[maybe_unused]] <span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> ros::Duration&amp; duration,</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                         <span class="keywordtype">void</span> (ObjectType::*<span class="keyword">const</span> callback)(<span class="keyword">const</span> ros::TimerEvent&amp;), ObjectType* <span class="keyword">const</span> obj, <span class="keywordtype">bool</span> oneshot, <span class="keyword">const</span> <span class="keywordtype">bool</span> autostart) </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;{</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keyword">const</span> <span class="keyword">auto</span> cbk = std::bind(callback, obj, std::placeholders::_1);</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordflow">if</span> (duration == ros::Duration(0))</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    oneshot = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  this-&gt;impl_ = std::make_unique&lt;Impl&gt;(cbk, duration, oneshot);</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> (autostart)</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    this-&gt;impl_-&gt;start();</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="preprocessor">#endif  // MRS_TIMER_HPP</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassThreadTimer_1_1Impl_html"><div class="ttname"><a href="classThreadTimer_1_1Impl.html">ThreadTimer::Impl</a></div><div class="ttdef"><b>Definition:</b> timer.hpp:32</div></div>
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+<div class="title">transform_broadcaster.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TRANSFORM_BROADCASTER_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define TRANSFORM_BROADCASTER_H</span></div>
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+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/transform_broadcaster.h&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;{</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">/* TransformBroadcaster //{ */</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1TransformBroadcaster.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1TransformBroadcaster.html">TransformBroadcaster</a> {</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="classmrs__lib_1_1TransformBroadcaster.html#ab8760c98f2d7111cc029f45b11e24bb9">TransformBroadcaster</a>();</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">sendTransform</a>(<span class="keyword">const</span> geometry_msgs::TransformStamped &amp;transform);</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">sendTransform</a>(<span class="keyword">const</span> std::vector&lt;geometry_msgs::TransformStamped&gt; &amp;transforms);</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  tf2_ros::TransformBroadcaster broadcaster_;</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  std::map&lt;std::string, ros::Time&gt; last_messages_;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;};</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif // TRANSFORM_BROADCASTER_H</span></div>
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+<div class="ttc" id="aclassmrs__lib_1_1TransformBroadcaster_html_a93913661cb31baeedb7d4e1f72142b93"><div class="ttname"><a href="classmrs__lib_1_1TransformBroadcaster.html#a93913661cb31baeedb7d4e1f72142b93">mrs_lib::TransformBroadcaster::sendTransform</a></div><div class="ttdeci">void sendTransform(const geometry_msgs::TransformStamped &amp;transform)</div><div class="ttdoc">check if the transform is newer than the last published one and publish it. Transform is skipped if a...</div><div class="ttdef"><b>Definition:</b> transform_broadcaster.cpp:13</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1TransformBroadcaster_html"><div class="ttname"><a href="classmrs__lib_1_1TransformBroadcaster.html">mrs_lib::TransformBroadcaster</a></div><div class="ttdoc">Wrapper for the tf2_ros::TransformBroadcaster. With each sendTransform() command, the message is chec...</div><div class="ttdef"><b>Definition:</b> transform_broadcaster.h:17</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">transformer.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef TRANSFORMER_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define TRANSFORMER_H</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">/* #define EIGEN_DONT_VECTORIZE */</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">/* #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT */</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">/* includes //{ */</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/transform_listener.h&gt;</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;tf2_ros/buffer.h&gt;</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;tf2_eigen/tf2_eigen.h&gt;</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;tf2_geometry_msgs/tf2_geometry_msgs.h&gt;</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;tf/transform_datatypes.h&gt;</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;tf_conversions/tf_eigen.h&gt;</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160; </div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/ReferenceStamped.h&gt;</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Vector3Stamped.h&gt;</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;std_msgs/Header.h&gt;</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="misc_8h.html">mrs_lib/geometry/misc.h</a>&gt;</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;pcl_ros/point_cloud.h&gt;</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;pcl_ros/transforms.h&gt;</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;pcl_conversions/pcl_conversions.h&gt;</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;experimental/type_traits&gt;</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">//}</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>tf2</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> pt_t&gt;</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">void</span> doTransform(<span class="keyword">const</span> pcl::PointCloud&lt;pt_t&gt;&amp; cloud_in, pcl::PointCloud&lt;pt_t&gt;&amp; cloud_out, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; transform)</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    pcl_ros::transformPointCloud(cloud_in, cloud_out, transform.transform);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    pcl_conversions::toPCL(transform.header.stamp, cloud_out.header.stamp);</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    cloud_out.header.frame_id = transform.header.frame_id;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  }</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}  <span class="comment">// namespace tf2</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> std::string UTM_ORIGIN = <span class="stringliteral">&quot;utm_origin&quot;</span>;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">static</span> <span class="keyword">const</span> std::string LATLON_ORIGIN = <span class="stringliteral">&quot;latlon_origin&quot;</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">/* class Transformer //{ */</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html">   68</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1Transformer.html">Transformer</a></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">/* Constructor, assignment operator and overloads //{ */</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">Transformer</a>();</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <a class="code" href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">Transformer</a>(<span class="keyword">const</span> std::string&amp; node_name, <span class="keyword">const</span> ros::Duration&amp; cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <a class="code" href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">Transformer</a>(<span class="keyword">const</span> ros::NodeHandle&amp; nh, <span class="keyword">const</span> std::string&amp; node_name = std::string(), <span class="keyword">const</span> ros::Duration&amp; cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <a class="code" href="classmrs__lib_1_1Transformer.html">Transformer</a>&amp; <a class="code" href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">operator=</a>(<a class="code" href="classmrs__lib_1_1Transformer.html">Transformer</a>&amp;&amp; other);</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// | ------------------ Configuration methods ----------------- |</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">/* setDefaultFrame() //{ */</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
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+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    {</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      default_frame_id_ = frame_id;</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
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+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
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+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
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+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    {</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      std::scoped_lock lck(mutex_);</div>
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+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        prefix_ = <span class="stringliteral">&quot;&quot;</span>;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        prefix_ = prefix + <span class="stringliteral">&quot;/&quot;</span>;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
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+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">/* setLatLon() //{ */</span></div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">setLatLon</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> lat, <span class="keyword">const</span> <span class="keywordtype">double</span> lon);</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
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+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">  191</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">setLookupTimeout</a>(<span class="keyword">const</span> ros::Duration timeout = ros::Duration(0))</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    {</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      lookup_timeout_ = timeout;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
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+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
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+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">  211</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">retryLookupNewest</a>(<span class="keyword">const</span> <span class="keywordtype">bool</span> retry = <span class="keyword">true</span>)</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      retry_lookup_newest_ = retry;</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    }</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    </div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">/* beQuiet() //{ */</span></div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
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+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    {</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      quiet_ = quiet;</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    }</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
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+<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">  248</a></span>&#160;    std::string <a class="code" href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">resolveFrame</a>(<span class="keyword">const</span> std::string&amp; frame_id)</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keywordflow">return</span> resolveFrameImpl(frame_id);</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    }</div>
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+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
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+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    [[nodiscard]] std::optional&lt;T&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">transformSingle</a>(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> std::string&amp; to_frame);</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a58e8e6d80098e192a0d415a14c6deec0">  279</a></span>&#160;    [[nodiscard]] std::optional&lt;boost::shared_ptr&lt;T&gt;&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a58e8e6d80098e192a0d415a14c6deec0">transformSingle</a>(<span class="keyword">const</span> boost::shared_ptr&lt;T&gt;&amp; what, <span class="keyword">const</span> std::string&amp; to_frame)</div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    {</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">transformSingle</a>(boost::shared_ptr&lt;const T&gt;(what), to_frame);</div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    }</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
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+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    {</div>
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+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordflow">if</span> (ret == std::nullopt)</div>
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+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordflow">return</span> boost::make_shared&lt;T&gt;(std::move(ret.value()));</div>
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+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
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+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
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+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">transformSingle</a>(from_frame, boost::shared_ptr&lt;const T&gt;(what), to_frame, time_stamp);</div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    }</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
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+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
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+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
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+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
+<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    [[nodiscard]] std::optional&lt;T&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">transform</a>(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf);</div>
+<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a8b05fe85c78f490b938bbf3d5884fce4">  385</a></span>&#160;    [[nodiscard]] std::optional&lt;boost::shared_ptr&lt;T&gt;&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a8b05fe85c78f490b938bbf3d5884fce4">transform</a>(<span class="keyword">const</span> boost::shared_ptr&lt;const T&gt;&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf)</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    {</div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keyword">auto</span> ret = <a class="code" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">transform</a>(*what, tf);</div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keywordflow">if</span> (ret == std::nullopt)</div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        <span class="keywordflow">return</span> boost::make_shared&lt;T&gt;(std::move(ret.value()));</div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    }</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160; </div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a6509524feeb70fe794964b7462f28409">  405</a></span>&#160;    [[nodiscard]] std::optional&lt;boost::shared_ptr&lt;T&gt;&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a6509524feeb70fe794964b7462f28409">transform</a>(<span class="keyword">const</span> boost::shared_ptr&lt;T&gt;&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf)</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    {</div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">transform</a>(boost::shared_ptr&lt;const T&gt;(what), tf);</div>
+<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    }</div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
+<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="comment">/* transformAsVector() method //{ */</span></div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    [[nodiscard]] std::optional&lt;Eigen::Vector3d&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">transformAsVector</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf);</div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    [[nodiscard]] std::optional&lt;Eigen::Vector3d&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">transformAsVector</a>(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> Eigen::Vector3d&amp; what, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; time_stamp = ros::Time(0));</div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <span class="comment">/* transformAsPoint() method //{ */</span></div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    [[nodiscard]] std::optional&lt;Eigen::Vector3d&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#ae56ae48888d4fcaf21c912ed491b35d1">transformAsPoint</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf);</div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    [[nodiscard]] std::optional&lt;Eigen::Vector3d&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#ae56ae48888d4fcaf21c912ed491b35d1">transformAsPoint</a>(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> Eigen::Vector3d&amp; what, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; time_stamp = ros::Time(0));</div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="comment">/* getTransform() //{ */</span></div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
+<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    [[nodiscard]] std::optional&lt;geometry_msgs::TransformStamped&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a3a29dfb385f1b9c4deee695181880995">getTransform</a>(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; time_stamp = ros::Time(0));</div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
+<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    [[nodiscard]] std::optional&lt;geometry_msgs::TransformStamped&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a3a29dfb385f1b9c4deee695181880995">getTransform</a>(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> ros::Time&amp; from_stamp, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; to_stamp, <span class="keyword">const</span> std::string&amp; fixed_frame);</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="comment">/* private members, methods etc //{ */</span></div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
+<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    std::mutex mutex_;</div>
+<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160; </div>
+<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    <span class="comment">// keeps track whether a non-basic constructor was called and the transform listener is initialized</span></div>
+<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    <span class="keywordtype">bool</span> initialized_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    std::string node_name_;</div>
+<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
+<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    std::unique_ptr&lt;tf2_ros::Buffer&gt; tf_buffer_;</div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    std::unique_ptr&lt;tf2_ros::TransformListener&gt; tf_listener_ptr_;</div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="comment">// user-configurable options</span></div>
+<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    std::string default_frame_id_ = <span class="stringliteral">&quot;&quot;</span>;</div>
+<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    std::string prefix_ = <span class="stringliteral">&quot;&quot;</span>; <span class="comment">// if not empty, includes the forward slash</span></div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    <span class="keywordtype">bool</span> quiet_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    ros::Duration lookup_timeout_ = ros::Duration(0);</div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="keywordtype">bool</span> retry_lookup_newest_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
+<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    <span class="keywordtype">bool</span> got_utm_zone_ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    std::array&lt;char, 10&gt; utm_zone_ = {};</div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
+<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    <span class="comment">// returns the first namespace prefix of the frame (if any) includin the forward slash</span></div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    std::string getFramePrefix(<span class="keyword">const</span> std::string&amp; frame_id);</div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    std::optional&lt;T&gt; transformImpl(<span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf, <span class="keyword">const</span> T&amp; what);</div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    std::optional&lt;mrs_msgs::ReferenceStamped&gt; transformImpl(<span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf, <span class="keyword">const</span> mrs_msgs::ReferenceStamped&amp; what);</div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    std::optional&lt;Eigen::Vector3d&gt; transformImpl(<span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf, <span class="keyword">const</span> Eigen::Vector3d&amp; what);</div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
+<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;    [[nodiscard]] std::optional&lt;geometry_msgs::TransformStamped&gt; getTransformImpl(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; time_stamp, <span class="keyword">const</span> std::string&amp; latlon_frame);</div>
+<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    [[nodiscard]] std::optional&lt;geometry_msgs::TransformStamped&gt; getTransformImpl(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> ros::Time&amp; from_stamp, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; to_stamp, <span class="keyword">const</span> std::string&amp; fixed_frame, <span class="keyword">const</span> std::string&amp; latlon_frame);</div>
+<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
+<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    std::string resolveFrameImpl(<span class="keyword">const</span> std::string&amp; frame_id);</div>
+<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
+<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    std::optional&lt;T&gt; doTransform(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf);</div>
+<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
+<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
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+<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    <span class="comment">/* frame_from(), frame_to() and inverse() methods //{ */</span></div>
+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    </div>
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+<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    </div>
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+<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    {</div>
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+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    </div>
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+<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
+<div class="line"><a name="l00587"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a34792e38e397efc72701898ff22114cc">  587</a></span>&#160;    <span class="keyword">static</span> constexpr std::string&amp; <a class="code" href="classmrs__lib_1_1Transformer.html#a34792e38e397efc72701898ff22114cc">frame_to</a>(geometry_msgs::TransformStamped&amp; msg)</div>
+<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    {</div>
+<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      <span class="keywordflow">return</span> msg.header.frame_id;</div>
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+<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
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+<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    {</div>
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+<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      tf2::fromMsg(msg.transform, tf2);</div>
+<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;      tf2 = tf2.inverse();</div>
+<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;      <span class="keywordflow">return</span> create_transform(<a class="code" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">frame_to</a>(msg), <a class="code" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(msg), msg.header.stamp, tf2::toMsg(tf2));</div>
+<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    }</div>
+<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
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+<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keyword">static</span> geometry_msgs::TransformStamped create_transform(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; time_stamp)</div>
+<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    {</div>
+<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;      geometry_msgs::TransformStamped ret;</div>
+<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      <a class="code" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(ret) = from_frame;</div>
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+<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      <span class="keywordflow">return</span> ret;</div>
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+<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
+<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    <span class="keyword">static</span> geometry_msgs::TransformStamped create_transform(<span class="keyword">const</span> std::string&amp; from_frame, <span class="keyword">const</span> std::string&amp; to_frame, <span class="keyword">const</span> ros::Time&amp; time_stamp, <span class="keyword">const</span> geometry_msgs::Transform&amp; tf)</div>
+<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    {</div>
+<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      geometry_msgs::TransformStamped ret;</div>
+<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      <a class="code" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(ret) = from_frame;</div>
+<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      <a class="code" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">frame_to</a>(ret) = to_frame;</div>
+<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      ret.header.stamp = time_stamp;</div>
+<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      ret.transform = tf;</div>
+<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    }</div>
+<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    <span class="comment">/* copyChangeFrame() and related methods //{ */</span></div>
+<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160; </div>
+<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    <span class="comment">// helper type and member for detecting whether a message has a header using SFINAE</span></div>
+<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;    <span class="keyword">using</span> has_header_member_chk = decltype( std::declval&lt;T&amp;&gt;().header );</div>
+<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">bool</span> has_header_member_v = std::experimental::is_detected&lt;has_header_member_chk, T&gt;::value;</div>
+<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    </div>
+<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> msg_t&gt;</div>
+<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    std_msgs::Header getHeader(<span class="keyword">const</span> msg_t&amp; msg);</div>
+<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> pt_t&gt;</div>
+<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    std_msgs::Header getHeader(<span class="keyword">const</span> pcl::PointCloud&lt;pt_t&gt;&amp; cloud);</div>
+<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    </div>
+<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> msg_t&gt;</div>
+<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    <span class="keywordtype">void</span> setHeader(msg_t&amp; msg, <span class="keyword">const</span> std_msgs::Header&amp; header);</div>
+<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> pt_t&gt;</div>
+<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    <span class="keywordtype">void</span> setHeader(pcl::PointCloud&lt;pt_t&gt;&amp; cloud, <span class="keyword">const</span> std_msgs::Header&amp; header);</div>
+<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    </div>
+<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    T copyChangeFrame(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> std::string&amp; frame_id);</div>
+<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    </div>
+<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160; </div>
+<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    <span class="comment">/* methods for converting between lattitude/longitude and UTM coordinates //{ */</span></div>
+<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    geometry_msgs::Point LLtoUTM(<span class="keyword">const</span> geometry_msgs::Point&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    geometry_msgs::PointStamped LLtoUTM(<span class="keyword">const</span> geometry_msgs::PointStamped&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    geometry_msgs::Pose LLtoUTM(<span class="keyword">const</span> geometry_msgs::Pose&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    geometry_msgs::PoseStamped LLtoUTM(<span class="keyword">const</span> geometry_msgs::PoseStamped&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    </div>
+<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    std::optional&lt;geometry_msgs::Point&gt; UTMtoLL(<span class="keyword">const</span> geometry_msgs::Point&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    std::optional&lt;geometry_msgs::PointStamped&gt; UTMtoLL(<span class="keyword">const</span> geometry_msgs::PointStamped&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    std::optional&lt;geometry_msgs::Pose&gt; UTMtoLL(<span class="keyword">const</span> geometry_msgs::Pose&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;    std::optional&lt;geometry_msgs::PoseStamped&gt; UTMtoLL(<span class="keyword">const</span> geometry_msgs::PoseStamped&amp; what, <span class="keyword">const</span> std::string&amp; prefix);</div>
+<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    </div>
+<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    <span class="comment">// helper types and member for detecting whether the UTMtoLL and LLtoUTM methods are defined for a certain message</span></div>
+<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Class, <span class="keyword">typename</span> Message&gt;</div>
+<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;    <span class="keyword">using</span> UTMLL_method_chk = decltype(std::declval&lt;Class&gt;().UTMtoLL(std::declval&lt;const Message&amp;&gt;(), <span class="stringliteral">&quot;&quot;</span>));</div>
+<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Class, <span class="keyword">typename</span> Message&gt;</div>
+<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    <span class="keyword">using</span> LLUTM_method_chk = decltype(std::declval&lt;Class&gt;().LLtoUTM(std::declval&lt;const Message&amp;&gt;(), <span class="stringliteral">&quot;&quot;</span>));</div>
+<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> Class, <span class="keyword">typename</span> Message&gt;</div>
+<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">bool</span> UTMLL_exists_v = std::experimental::is_detected&lt;UTMLL_method_chk, Class, Message&gt;::value &amp;&amp; std::experimental::is_detected&lt;LLUTM_method_chk, Class, Message&gt;::value;</div>
+<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160; </div>
+<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  };</div>
+<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160; </div>
+<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160; </div>
+<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160; </div>
+<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;<span class="preprocessor">#include &lt;mrs_lib/impl/transformer.hpp&gt;</span></div>
+<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160; </div>
+<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;<span class="preprocessor">#endif  // TRANSFORMER_H</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a6509524feeb70fe794964b7462f28409"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a6509524feeb70fe794964b7462f28409">mrs_lib::Transformer::transform</a></div><div class="ttdeci">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt; transform(const boost::shared_ptr&lt; T &gt; &amp;what, const geometry_msgs::TransformStamped &amp;tf)</div><div class="ttdoc">Transform a variable to new frame using a particular transformation.</div><div class="ttdef"><b>Definition:</b> transformer.h:405</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_aa4cf06770b355a01c66f227363a4967f"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#aa4cf06770b355a01c66f227363a4967f">mrs_lib::Transformer::resolveFrame</a></div><div class="ttdeci">std::string resolveFrame(const std::string &amp;frame_id)</div><div class="ttdoc">Deduce the full frame ID from a shortened or empty string using current default prefix and default fr...</div><div class="ttdef"><b>Definition:</b> transformer.h:248</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a623af4e8100b71ac700ad5ffac96d2e2"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">mrs_lib::Transformer::transformSingle</a></div><div class="ttdeci">std::optional&lt; T &gt; transformSingle(const T &amp;what, const std::string &amp;to_frame)</div><div class="ttdoc">Transforms a single variable to a new frame and returns it or std::nullopt if transformation fails.</div><div class="ttdef"><b>Definition:</b> transformer.hpp:138</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a7a53d960ee4b76ea943d9c19d23f2e95"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a7a53d960ee4b76ea943d9c19d23f2e95">mrs_lib::Transformer::frame_from</a></div><div class="ttdeci">static constexpr std::string &amp; frame_from(geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function that returns the frame from which the message transforms.</div><div class="ttdef"><b>Definition:</b> transformer.h:563</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a17440196c1c894e265f77b0b9112336a"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a17440196c1c894e265f77b0b9112336a">mrs_lib::Transformer::inverse</a></div><div class="ttdeci">static geometry_msgs::TransformStamped inverse(const geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function implements returns the inverse of the transform message as a one-liner.</div><div class="ttdef"><b>Definition:</b> transformer.h:598</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_aca0408b710e4fa6e163ac23719d30fd1"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#aca0408b710e4fa6e163ac23719d30fd1">mrs_lib::Transformer::Transformer</a></div><div class="ttdeci">Transformer()</div><div class="ttdoc">A convenience constructor that doesn't initialize anything.</div><div class="ttdef"><b>Definition:</b> transformer.cpp:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a8b05fe85c78f490b938bbf3d5884fce4"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a8b05fe85c78f490b938bbf3d5884fce4">mrs_lib::Transformer::transform</a></div><div class="ttdeci">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt; transform(const boost::shared_ptr&lt; const T &gt; &amp;what, const geometry_msgs::TransformStamped &amp;tf)</div><div class="ttdoc">Transform a variable to new frame using a particular transformation.</div><div class="ttdef"><b>Definition:</b> transformer.h:385</div></div>
+<div class="ttc" id="amisc_8h_html"><div class="ttname"><a href="misc_8h.html">misc.h</a></div><div class="ttdoc">Defines useful geometry utilities and functions.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a5afde5d58bc9a558cba5da9e0c2d4d1b"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a5afde5d58bc9a558cba5da9e0c2d4d1b">mrs_lib::Transformer::transformSingle</a></div><div class="ttdeci">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt; transformSingle(const std::string &amp;from_frame, const boost::shared_ptr&lt; T &gt; &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</div><div class="ttdoc">Transforms a single variable to a new frame and returns it or std::nullopt if transformation fails.</div><div class="ttdef"><b>Definition:</b> transformer.h:332</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_abef2a59ed83e09ab103c060abb31dbb1"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#abef2a59ed83e09ab103c060abb31dbb1">mrs_lib::Transformer::retryLookupNewest</a></div><div class="ttdeci">void retryLookupNewest(const bool retry=true)</div><div class="ttdoc">Enable/disable retry of a failed transform lookup with ros::Time(0).</div><div class="ttdef"><b>Definition:</b> transformer.h:211</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html">mrs_lib::Transformer</a></div><div class="ttdoc">A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages.</div><div class="ttdef"><b>Definition:</b> transformer.h:68</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a54764308675cc6df1782954870e1f3c2"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a54764308675cc6df1782954870e1f3c2">mrs_lib::Transformer::setLatLon</a></div><div class="ttdeci">void setLatLon(const double lat, const double lon)</div><div class="ttdoc">Sets the curret lattitude and longitude for UTM zone calculation.</div><div class="ttdef"><b>Definition:</b> transformer.cpp:117</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a16a54cd35b1f071a80197cbccccfe9c0"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a16a54cd35b1f071a80197cbccccfe9c0">mrs_lib::Transformer::setDefaultFrame</a></div><div class="ttdeci">void setDefaultFrame(const std::string &amp;frame_id)</div><div class="ttdoc">Sets the default frame ID to be used instead of any empty frame ID.</div><div class="ttdef"><b>Definition:</b> transformer.h:130</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a8a66075edc7025976292ebd401d7de16"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">mrs_lib::Transformer::transform</a></div><div class="ttdeci">std::optional&lt; T &gt; transform(const T &amp;what, const geometry_msgs::TransformStamped &amp;tf)</div><div class="ttdoc">Transform a variable to new frame using a particular transformation.</div><div class="ttdef"><b>Definition:</b> transformer.hpp:175</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a34792e38e397efc72701898ff22114cc"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a34792e38e397efc72701898ff22114cc">mrs_lib::Transformer::frame_to</a></div><div class="ttdeci">static constexpr std::string &amp; frame_to(geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function that returns the frame to which the message transforms.</div><div class="ttdef"><b>Definition:</b> transformer.h:587</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a4f4befc33e5518afa01026b7955c1e2b"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">mrs_lib::Transformer::frame_to</a></div><div class="ttdeci">static constexpr const std::string &amp; frame_to(const geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function that returns the frame to which the message transforms.</div><div class="ttdef"><b>Definition:</b> transformer.h:574</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a0a440d4cd248304525a05e8cfa9662f7"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">mrs_lib::Transformer::frame_from</a></div><div class="ttdeci">static constexpr const std::string &amp; frame_from(const geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function that returns the frame from which the message transforms.</div><div class="ttdef"><b>Definition:</b> transformer.h:550</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_ae56ae48888d4fcaf21c912ed491b35d1"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#ae56ae48888d4fcaf21c912ed491b35d1">mrs_lib::Transformer::transformAsPoint</a></div><div class="ttdeci">std::optional&lt; Eigen::Vector3d &gt; transformAsPoint(const Eigen::Vector3d &amp;what, const geometry_msgs::TransformStamped &amp;tf)</div><div class="ttdoc">Transform an Eigen::Vector3d (interpreting it as a point).</div><div class="ttdef"><b>Definition:</b> transformer.cpp:186</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_ab1e3fff472e6c6320a41d6f6ca331ca0"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#ab1e3fff472e6c6320a41d6f6ca331ca0">mrs_lib::Transformer::beQuiet</a></div><div class="ttdeci">void beQuiet(const bool quiet=true)</div><div class="ttdoc">Enable/disable some prints that may be too noisy.</div><div class="ttdef"><b>Definition:</b> transformer.h:228</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_ac073019d60f1d9c6d48a0c207bafb678"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#ac073019d60f1d9c6d48a0c207bafb678">mrs_lib::Transformer::setLookupTimeout</a></div><div class="ttdeci">void setLookupTimeout(const ros::Duration timeout=ros::Duration(0))</div><div class="ttdoc">Set a timeout for transform lookup.</div><div class="ttdef"><b>Definition:</b> transformer.h:191</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a2c45ff29ac5f482ba9b9c2537d82b8fb"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a2c45ff29ac5f482ba9b9c2537d82b8fb">mrs_lib::Transformer::transformSingle</a></div><div class="ttdeci">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt; transformSingle(const boost::shared_ptr&lt; const T &gt; &amp;what, const std::string &amp;to_frame)</div><div class="ttdoc">Transforms a single variable to a new frame.</div><div class="ttdef"><b>Definition:</b> transformer.h:295</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a58e8e6d80098e192a0d415a14c6deec0"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a58e8e6d80098e192a0d415a14c6deec0">mrs_lib::Transformer::transformSingle</a></div><div class="ttdeci">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt; transformSingle(const boost::shared_ptr&lt; T &gt; &amp;what, const std::string &amp;to_frame)</div><div class="ttdoc">Transforms a single variable to a new frame.</div><div class="ttdef"><b>Definition:</b> transformer.h:279</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_af17729e67e82876f6bbce2d5cec55613"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#af17729e67e82876f6bbce2d5cec55613">mrs_lib::Transformer::transformAsVector</a></div><div class="ttdeci">std::optional&lt; Eigen::Vector3d &gt; transformAsVector(const Eigen::Vector3d &amp;what, const geometry_msgs::TransformStamped &amp;tf)</div><div class="ttdoc">Transform an Eigen::Vector3d (interpreting it as a vector).</div><div class="ttdef"><b>Definition:</b> transformer.cpp:130</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a6c4c846758bf173c7aeb488c8ff773b1"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a6c4c846758bf173c7aeb488c8ff773b1">mrs_lib::Transformer::operator=</a></div><div class="ttdeci">Transformer &amp; operator=(Transformer &amp;&amp;other)</div><div class="ttdoc">A convenience move assignment operator.</div><div class="ttdef"><b>Definition:</b> transformer.cpp:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a3a29dfb385f1b9c4deee695181880995"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a3a29dfb385f1b9c4deee695181880995">mrs_lib::Transformer::getTransform</a></div><div class="ttdeci">std::optional&lt; geometry_msgs::TransformStamped &gt; getTransform(const std::string &amp;from_frame, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</div><div class="ttdoc">Obtains a transform between two frames in a given time.</div><div class="ttdef"><b>Definition:</b> transformer.cpp:78</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a5d6f4288d53f09474c92bda26d0c9f55"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a5d6f4288d53f09474c92bda26d0c9f55">mrs_lib::Transformer::setDefaultPrefix</a></div><div class="ttdeci">void setDefaultPrefix(const std::string &amp;prefix)</div><div class="ttdoc">Sets the default frame ID prefix to be used if no prefix is present in the frame.</div><div class="ttdef"><b>Definition:</b> transformer.h:153</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a4d01ec1804bb492694d328704dada907"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a4d01ec1804bb492694d328704dada907">mrs_lib::Transformer::transformSingle</a></div><div class="ttdeci">std::optional&lt; boost::shared_ptr&lt; T &gt; &gt; transformSingle(const std::string &amp;from_frame, const boost::shared_ptr&lt; const T &gt; &amp;what, const std::string &amp;to_frame, const ros::Time &amp;time_stamp=ros::Time(0))</div><div class="ttdoc">Transforms a single variable to a new frame and returns it or std::nullopt if transformation fails.</div><div class="ttdef"><b>Definition:</b> transformer.h:350</div></div>
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+<div class="title">transformer.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TRANSFORMER_HPP</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define TRANSFORMER_HPP</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;{</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <span class="comment">// | --------------------- helper methods --------------------- |</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <span class="comment">/* getHeader() overloads for different message types (pointers, pointclouds etc) //{ */</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> msg_t&gt;</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  std_msgs::Header Transformer::getHeader(<span class="keyword">const</span> msg_t&amp; msg)</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  {</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordflow">return</span> msg.header;</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  }</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> pt_t&gt;</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  std_msgs::Header Transformer::getHeader(<span class="keyword">const</span> pcl::PointCloud&lt;pt_t&gt;&amp; cloud)</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    std_msgs::Header ret;</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    pcl_conversions::fromPCL(cloud.header, ret);</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  }</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">/* setHeader() overloads for different message types (pointers, pointclouds etc) //{ */</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> msg_t&gt;</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordtype">void</span> Transformer::setHeader(msg_t&amp; msg, <span class="keyword">const</span> std_msgs::Header&amp; header)</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  {</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    msg.header = header;</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  }</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> pt_t&gt;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> Transformer::setHeader(pcl::PointCloud&lt;pt_t&gt;&amp; cloud, <span class="keyword">const</span> std_msgs::Header&amp; header)</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  {</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    pcl_conversions::toPCL(header, cloud.header);</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  }</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">/* copyChangeFrame() helper function //{ */</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  T Transformer::copyChangeFrame(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> std::string&amp; frame_id)</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    T ret = what;</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">if</span> constexpr (has_header_member_v&lt;T&gt;)</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    {</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      std_msgs::Header new_header = getHeader(what);</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      new_header.frame_id = frame_id;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      setHeader(ret, new_header);</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">/* transformImpl() //{ */</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  std::optional&lt;T&gt; Transformer::transformImpl(<span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf, <span class="keyword">const</span> T&amp; what)</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">const</span> std::string from_frame = <a class="code" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(tf);</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">const</span> std::string to_frame = <a class="code" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">frame_to</a>(tf);</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">if</span> (from_frame == to_frame)</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keywordflow">return</span> copyChangeFrame(what, from_frame);</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">const</span> std::string latlon_frame_name = resolveFrameImpl(LATLON_ORIGIN);</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// First, check if the transformation is from/to the latlon frame</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// if conversion between UVM and LatLon coordinates is defined for this message, it may be resolved</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">if</span> constexpr (UTMLL_exists_v&lt;Transformer, T&gt;)</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    {</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="comment">// check for transformation from LAT-LON GPS</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">if</span> (from_frame == latlon_frame_name)</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">const</span> std::optional&lt;T&gt; tmp = LLtoUTM(what, getFramePrefix(from_frame));</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordflow">if</span> (!tmp.has_value())</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordflow">return</span> doTransform(tmp.value(), tf);</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="comment">// check for transformation to LAT-LON GPS</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (to_frame == latlon_frame_name)</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      {</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">const</span> std::optional&lt;T&gt; tmp = doTransform(what, tf);</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keywordflow">if</span> (!tmp.has_value())</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;          <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">return</span> UTMtoLL(tmp.value(), getFramePrefix(to_frame));</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      }</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    }</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    {</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="comment">// by default, transformation from/to LATLON is undefined, so return nullopt if it&#39;s attempted</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordflow">if</span> (from_frame == latlon_frame_name || to_frame == latlon_frame_name)</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      {</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        ROS_ERROR_STREAM_THROTTLE(1.0, <span class="stringliteral">&quot;[&quot;</span> &lt;&lt; node_name_ &lt;&lt; <span class="stringliteral">&quot;]: Transformer: cannot transform message of this type (&quot;</span> &lt;&lt; <span class="keyword">typeid</span>(T).name() &lt;&lt; <span class="stringliteral">&quot;) to/from latitude/longitude coordinates!&quot;</span>);</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      }</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    }</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">// otherwise it&#39;s just an ol&#39; borin&#39; transformation</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">return</span> doTransform(what, tf);</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">/* doTransform() //{ */</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  std::optional&lt;T&gt; Transformer::doTransform(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf)</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">try</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      T result;</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      tf2::doTransform(what, result, tf);</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">return</span> result;</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    }</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">catch</span> (tf2::TransformException&amp; ex)</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    {</div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      ROS_WARN_THROTTLE(1.0, <span class="stringliteral">&quot;[%s]: Transformer: Error during transform from \&quot;%s\&quot; frame to \&quot;%s\&quot; frame.\n\tMSG: %s&quot;</span>, node_name_.c_str(), <a class="code" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(tf).c_str(),</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                        <a class="code" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">frame_to</a>(tf).c_str(), ex.what());</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    }</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">// | ------------------ user-callable methods ----------------- |</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">/* transformSingle() //{ */</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">  138</a></span>&#160;  std::optional&lt;T&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">Transformer::transformSingle</a>(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> std::string&amp; to_frame_raw)</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  {</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">const</span> std_msgs::Header orig_header = getHeader(what);</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">transformSingle</a>(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  }</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a7cea399425c4a51a676ba5aa285612d4">  145</a></span>&#160;  std::optional&lt;T&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">Transformer::transformSingle</a>(<span class="keyword">const</span> std::string&amp; from_frame_raw, <span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> std::string&amp; to_frame_raw, <span class="keyword">const</span> ros::Time&amp; time_stamp)</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">if</span> (!initialized_)</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    {</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      ROS_ERROR_THROTTLE(1.0, <span class="stringliteral">&quot;[%s]: Transformer: cannot transform, not initialized&quot;</span>, node_name_.c_str());</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    }</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">const</span> std::string from_frame = resolveFrameImpl(from_frame_raw);</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">const</span> std::string to_frame = resolveFrameImpl(to_frame_raw);</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">const</span> std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">// get the transform</span></div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">if</span> (!tf_opt.has_value())</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf = tf_opt.value();</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="comment">// do the transformation</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keyword">const</span> geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">return</span> transformImpl(tf_resolved, what);</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="comment">/* transform() //{ */</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div>
+<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">  175</a></span>&#160;  std::optional&lt;T&gt; <a class="code" href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">Transformer::transform</a>(<span class="keyword">const</span> T&amp; what, <span class="keyword">const</span> geometry_msgs::TransformStamped&amp; tf)</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  {</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    std::scoped_lock lck(mutex_);</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">if</span> (!initialized_)</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    {</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      ROS_ERROR_THROTTLE(1.0, <span class="stringliteral">&quot;[%s]: Transformer: cannot transform, not initialized&quot;</span>, node_name_.c_str());</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordflow">return</span> std::nullopt;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    }</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">const</span> std::string from_frame = resolveFrameImpl(<a class="code" href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">frame_from</a>(tf));</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">const</span> std::string to_frame = resolveFrameImpl(<a class="code" href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">frame_to</a>(tf));</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keyword">const</span> geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">return</span> transformImpl(tf_resolved, what);</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">/* //} */</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="preprocessor">#endif // TRANSFORMER_HPP</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a623af4e8100b71ac700ad5ffac96d2e2"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a623af4e8100b71ac700ad5ffac96d2e2">mrs_lib::Transformer::transformSingle</a></div><div class="ttdeci">std::optional&lt; T &gt; transformSingle(const T &amp;what, const std::string &amp;to_frame)</div><div class="ttdoc">Transforms a single variable to a new frame and returns it or std::nullopt if transformation fails.</div><div class="ttdef"><b>Definition:</b> transformer.hpp:138</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a8a66075edc7025976292ebd401d7de16"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a8a66075edc7025976292ebd401d7de16">mrs_lib::Transformer::transform</a></div><div class="ttdeci">std::optional&lt; T &gt; transform(const T &amp;what, const geometry_msgs::TransformStamped &amp;tf)</div><div class="ttdoc">Transform a variable to new frame using a particular transformation.</div><div class="ttdef"><b>Definition:</b> transformer.hpp:175</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a4f4befc33e5518afa01026b7955c1e2b"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a4f4befc33e5518afa01026b7955c1e2b">mrs_lib::Transformer::frame_to</a></div><div class="ttdeci">static constexpr const std::string &amp; frame_to(const geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function that returns the frame to which the message transforms.</div><div class="ttdef"><b>Definition:</b> transformer.h:574</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1Transformer_html_a0a440d4cd248304525a05e8cfa9662f7"><div class="ttname"><a href="classmrs__lib_1_1Transformer.html#a0a440d4cd248304525a05e8cfa9662f7">mrs_lib::Transformer::frame_from</a></div><div class="ttdeci">static constexpr const std::string &amp; frame_from(const geometry_msgs::TransformStamped &amp;msg)</div><div class="ttdoc">A convenience function that returns the frame from which the message transforms.</div><div class="ttdef"><b>Definition:</b> transformer.h:550</div></div>
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="dir_7164529cd9c8f96b25598799ea656806.html">impl</a></li><li class="navelem"><b>transformer.hpp</b></li>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+</iframe>
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+
+<div class="header">
+  <div class="headertitle">
+<div class="title">ukf/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> ukf_example</code>.</p>
+<p>Example code for using the UKF implementation (see documentation of the UKF class):</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="comment">// Include the UKF header</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="ukf_8h.html">mrs_lib/ukf.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;random&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Define the UKF we will be using</span></div>
+<div class="line"><span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_states = 3;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_inputs = 1;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_measurements = 2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">using</span> ukf_t = UKF&lt;n_states, n_inputs, n_measurements&gt;;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Some helpful aliases to make writing of types shorter</span></div>
+<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a>;</div>
+<div class="line"><span class="keyword">using</span> Q_t = <a name="a0"></a><a class="code" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">ukf_t::Q_t</a>;</div>
+<div class="line"><span class="keyword">using</span> tra_model_t = <a name="a1"></a><a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">ukf_t::transition_model_t</a>;</div>
+<div class="line"><span class="keyword">using</span> obs_model_t = <a name="a2"></a><a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">ukf_t::observation_model_t</a>;</div>
+<div class="line"><span class="keyword">using</span> x_t = <a name="a3"></a><a class="code" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">ukf_t::x_t</a>;</div>
+<div class="line"><span class="keyword">using</span> P_t = <a name="a4"></a><a class="code" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">ukf_t::P_t</a>;</div>
+<div class="line"><span class="keyword">using</span> u_t = <a name="a5"></a><a class="code" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">ukf_t::u_t</a>;</div>
+<div class="line"><span class="keyword">using</span> z_t = <a name="a6"></a><a class="code" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">ukf_t::z_t</a>;</div>
+<div class="line"><span class="keyword">using</span> R_t = <a name="a7"></a><a class="code" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">ukf_t::R_t</a>;</div>
+<div class="line"><span class="keyword">using</span> statecov_t = <a name="a8"></a><a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">ukf_t::statecov_t</a>;</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Some helper enums to make the code more readable</span></div>
+<div class="line"><span class="keyword">enum</span> x_pos</div>
+<div class="line">{</div>
+<div class="line">  x_x = 0,</div>
+<div class="line">  x_y = 1,</div>
+<div class="line">  x_alpha = 2,</div>
+<div class="line">};</div>
+<div class="line"><span class="keyword">enum</span> u_pos</div>
+<div class="line">{</div>
+<div class="line">  u_alpha = 0,</div>
+<div class="line">};</div>
+<div class="line"><span class="keyword">enum</span> z_pos</div>
+<div class="line">{</div>
+<div class="line">  z_x = 0,</div>
+<div class="line">  z_y = 1,</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// This function implements the state transition</span></div>
+<div class="line"><span class="keyword">const</span> <span class="keywordtype">double</span> speed = 0.3;</div>
+<div class="line">x_t tra_model_f(<span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> u_t&amp; u, <span class="keyword">const</span> <span class="keywordtype">double</span> dt)</div>
+<div class="line">{</div>
+<div class="line">  x_t ret;</div>
+<div class="line">  ret(x_x) = x(x_x) + dt*std::cos(x(x_alpha))*speed;</div>
+<div class="line">  ret(x_y) = x(x_y) + dt*std::sin(x(x_alpha))*speed;</div>
+<div class="line">  ret(x_alpha) = x(x_alpha) + u(u_alpha);</div>
+<div class="line">  <span class="keywordflow">return</span> ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// This function implements the observation generation from a state</span></div>
+<div class="line"><a class="code" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">ukf_t::z_t</a> obs_model_f(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">ukf_t::x_t</a>&amp; x)</div>
+<div class="line">{</div>
+<div class="line">  z_t ret;</div>
+<div class="line">  ret(z_x) = x(x_x);</div>
+<div class="line">  ret(z_y) = x(x_y);</div>
+<div class="line">  <span class="keywordflow">return</span> ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Helper function to generate a random Eigen matrix with normal distribution</span></div>
+<div class="line"><span class="keyword">template</span> &lt;<span class="keywordtype">int</span> rows&gt;</div>
+<div class="line">Eigen::Matrix&lt;double, rows, 1&gt; normal_randmat(<span class="keyword">const</span> Eigen::Matrix&lt;double, rows, rows&gt;&amp; cov)</div>
+<div class="line">{</div>
+<div class="line">    <span class="keyword">static</span> std::random_device rd{};</div>
+<div class="line">    <span class="keyword">static</span> std::mt19937 gen{rd()};</div>
+<div class="line">    <span class="keyword">static</span> std::normal_distribution&lt;&gt; d{0,1};</div>
+<div class="line">    Eigen::Matrix&lt;double, rows, 1&gt; ret;</div>
+<div class="line">    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; rows; row++)</div>
+<div class="line">      ret(row, 0) = d(gen);</div>
+<div class="line">    <span class="keywordflow">return</span> cov*ret;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main()</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">// Parameters of the Unscented Kalman Filter</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> alpha = 1e-3;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> kappa = 1;</div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> beta  = 2;</div>
+<div class="line">  tra_model_t tra_model(tra_model_f);</div>
+<div class="line">  obs_model_t obs_model(obs_model_f);</div>
+<div class="line">  </div>
+<div class="line">  <span class="comment">// dt will be constant in this example</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> dt = 1.0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the process noise matrix</span></div>
+<div class="line">  Q_t Q; Q &lt;&lt; </div>
+<div class="line">    1e-3, 0, 0,</div>
+<div class="line">    0, 1e-3, 0,</div>
+<div class="line">    0, 0, 1e-2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Initialize the measurement noise matrix</span></div>
+<div class="line">  R_t R; R &lt;&lt;</div>
+<div class="line">    1e-2, 0,</div>
+<div class="line">    0, 1e-2;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Generate initial state and covariance</span></div>
+<div class="line">  <span class="keyword">const</span> x_t x0 = 100.0*x_t::Random();</div>
+<div class="line">  P_t P_tmp = P_t::Random();</div>
+<div class="line">  <span class="keyword">const</span> P_t P0 = 10.0*P_tmp*P_tmp.transpose();</div>
+<div class="line">  <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">ukf_t::statecov_t</a> sc0({x0, P0});</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Instantiate the UKF itself</span></div>
+<div class="line">  <a name="_a9"></a><a class="code" href="classmrs__lib_1_1UKF.html">ukf_t</a> ukf(tra_model, obs_model, alpha, kappa, beta);</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">int</span> n_its = 1e4;</div>
+<div class="line">  <span class="comment">// Prepare the ground-truth state and the estimated state and covariance</span></div>
+<div class="line">  x_t x_gt = sc0.x;</div>
+<div class="line">  statecov_t sc_est = sc0;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> it = 0; it &lt; n_its; it++)</div>
+<div class="line">  {</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;step: &quot;</span> &lt;&lt; it &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// Generate a new input vector</span></div>
+<div class="line">    <span class="keyword">const</span> u_t u = u_t::Random();</div>
+<div class="line">    </div>
+<div class="line">    <span class="comment">// Generate a new state according to the model and noise parameters</span></div>
+<div class="line">    x_gt = tra_model_f(x_gt, u, dt) + normal_randmat(Q);</div>
+<div class="line">    </div>
+<div class="line">    <span class="comment">// Generate a new observation according to the model and noise parameters</span></div>
+<div class="line">    <span class="keyword">const</span> z_t z = obs_model_f(x_gt) + normal_randmat(R);</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// There should be a try-catch here to prevent program crashes</span></div>
+<div class="line">    <span class="comment">// in case of numerical instabilities (which are possible with UKF)</span></div>
+<div class="line">    <span class="keywordflow">try</span></div>
+<div class="line">    {</div>
+<div class="line">      <span class="comment">// Apply the prediction step</span></div>
+<div class="line">      sc_est = ukf.predict(sc_est, u, Q, dt);</div>
+<div class="line">      </div>
+<div class="line">      <span class="comment">// Apply the correction step</span></div>
+<div class="line">      sc_est = ukf.correct(sc_est, z, R);</div>
+<div class="line">    }</div>
+<div class="line">    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line">    {</div>
+<div class="line">      <span class="comment">// In case of error, alert the user</span></div>
+<div class="line">      ROS_ERROR(<span class="stringliteral">&quot;UKF failed: %s&quot;</span>, e.what());</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="keyword">const</span> <span class="keyword">auto</span> error = (x_gt-sc_est.x).norm();</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current UKF estimation error is: &quot;</span> &lt;&lt; error &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current ground-truth state is:  &quot;</span> &lt;&lt; x_gt.transpose() &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current UKF estimated state is: &quot;</span> &lt;&lt; sc_est.x.transpose() &lt;&lt; std::endl;</div>
+<div class="line">    std::cout &lt;&lt; <span class="stringliteral">&quot;Current UKF state covariance is:&quot;</span> &lt;&lt; std::endl &lt;&lt; sc_est.P &lt;&lt; std::endl;</div>
+<div class="line">  }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordflow">return</span> 0;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_abd8f845f1b3f138949bd95c7dc12e011"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">mrs_lib::UKF::Q_t</a></div><div class="ttdeci">typename Base_class::Q_t Q_t</div><div class="ttdoc">process covariance n*n typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:69</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a7a68877ffa7bd8bb10f16d1f104e0a73"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">mrs_lib::UKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">measurement vector p*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:63</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a986f17f015282a33b140af4adabce091"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">mrs_lib::UKF::transition_model_t</a></div><div class="ttdeci">typename std::function&lt; x_t(const x_t &amp;, const u_t &amp;, double)&gt; transition_model_t</div><div class="ttdoc">function of the state transition model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:75</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a6589d6a1f5eba355f1bec91e99826b71"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">mrs_lib::UKF::u_t</a></div><div class="ttdeci">typename Base_class::u_t u_t</div><div class="ttdoc">input vector m*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:61</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a604c0bfee69ee5a34dc4412af3cc6e53"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">mrs_lib::UKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">typedef of a helper struct for state and covariance</div><div class="ttdef"><b>Definition:</b> ukf.h:73</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ac515ea8c688d7ee67250c384417f9ab9"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">mrs_lib::UKF::observation_model_t</a></div><div class="ttdeci">typename std::function&lt; z_t(const x_t &amp;)&gt; observation_model_t</div><div class="ttdoc">function of the observation model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:77</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a0af0d9a246df0798b1cb1308cec82fd2"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">mrs_lib::UKF::R_t</a></div><div class="ttdeci">typename Base_class::R_t R_t</div><div class="ttdoc">measurement covariance p*p typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:67</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ac1128f5d7fa36305a52859a752a97fda"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">mrs_lib::UKF::P_t</a></div><div class="ttdeci">typename Base_class::P_t P_t</div><div class="ttdoc">state covariance n*n typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:65</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a5ab9d25f7b2470c7abeacda7f8b80630"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">mrs_lib::UKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">state vector n*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:59</div></div>
+<div class="ttc" id="aukf_8h_html"><div class="ttname"><a href="ukf_8h.html">ukf.h</a></div><div class="ttdoc">Defines UKF - a class implementing the Unscented Kalman Filter .</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html"><div class="ttname"><a href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a></div><div class="ttdoc">Implementation of the Unscented Kalman filter .</div><div class="ttdef"><b>Definition:</b> ukf.h:39</div></div>
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+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#typedef-members">Typedefs</a> &#124;
+<a href="#enum-members">Enumerations</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">example.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Example file for the UKF implementation.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="ukf_8h_source.html">mrs_lib/ukf.h</a>&gt;</code><br />
+<code>#include &lt;random&gt;</code><br />
+<code>#include &lt;ros/ros.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for example.cpp:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::ukf_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html">UKF</a>&lt; n_states, n_inputs, n_measurements &gt;</td></tr>
+<tr class="separator:a2635db3a96f0b457abe21cac4669c4a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>Q_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">ukf_t::Q_t</a></td></tr>
+<tr class="separator:a48a3b5d352fb2b050710720c67f14bf5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>tra_model_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">ukf_t::transition_model_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>x_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">ukf_t::x_t</a></td></tr>
+<tr class="separator:a8470a3151c8e60cd2d8b634068a10665"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>P_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">ukf_t::P_t</a></td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>R_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">ukf_t::R_t</a></td></tr>
+<tr class="separator:a0eb6584c89962faa4a31546f3dc59228"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+using&#160;</td><td class="memItemRight" valign="bottom"><b>statecov_t</b> = <a class="el" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">ukf_t::statecov_t</a></td></tr>
+<tr class="separator:a1ca48b74ebe6b20239eb737cfa0fb1e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+&#160;&#160;<b>x_x</b> = 0, 
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+&#160;&#160;<b>z_x</b> = 0, 
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+x_t&#160;</td><td class="memItemRight" valign="bottom"><b>tra_model_f</b> (const x_t &amp;x, const u_t &amp;u, const double dt)</td></tr>
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+<a class="el" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">ukf_t::z_t</a>&#160;</td><td class="memItemRight" valign="bottom"><b>obs_model_f</b> (const <a class="el" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">ukf_t::x_t</a> &amp;x)</td></tr>
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+template&lt;int rows&gt; </td></tr>
+<tr class="memitem:a1aa37976011a3b2fb4c2af6d82853687"><td class="memTemplItemLeft" align="right" valign="top">Eigen::Matrix&lt; double, rows, 1 &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><b>normal_randmat</b> (const Eigen::Matrix&lt; double, rows, rows &gt; &amp;cov)</td></tr>
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+int&#160;</td><td class="memItemRight" valign="bottom"><b>main</b> ()</td></tr>
+<tr class="separator:ae66f6b31b5ad750f1fe042a706a4e3d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Variables</h2></td></tr>
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+const double&#160;</td><td class="memItemRight" valign="bottom"><b>speed</b> = 0.3</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the UKF implementation. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> ukf_example</code>.</p>
+<p>See <a class="el" href="ukf_2example_8cpp-example.html">ukf/example.cpp</a>. </p>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_a5078ef47331b4526bf3f96e987ee465.html">ukf</a></li><li class="navelem"><a class="el" href="ukf_2example_8cpp.html">example.cpp</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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diff --git a/ukf_2example_8cpp.js b/ukf_2example_8cpp.js
new file mode 100644
index 00000000..721ab78d
--- /dev/null
+++ b/ukf_2example_8cpp.js
@@ -0,0 +1,45 @@
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+<a href="#nested-classes">Classes</a> &#124;
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+<div class="title">ukf.h File Reference</div>  </div>
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+<p>Defines UKF - a class implementing the Unscented Kalman Filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="kalman__filter_8h_source.html">mrs_lib/kalman_filter.h</a>&gt;</code><br />
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1UKF.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of the Unscented Kalman filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>.  <a href="classmrs__lib_1_1UKF.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1UKF_1_1square__root__exception.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::square_root_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when taking the square root of a matrix fails during sigma generation  <a href="structmrs__lib_1_1UKF_1_1square__root__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">mrs_lib::UKF&lt; n_states, n_inputs, n_measurements &gt;::inverse_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">is thrown when taking the inverse of a matrix fails during kalman gain calculation  <a href="structmrs__lib_1_1UKF_1_1inverse__exception.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines UKF - a class implementing the Unscented Kalman Filter <a class="el" href="citelist.html#CITEREF_UKF">[4]</a>. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomáš Báča - <a href="#" onclick="location.href='mai'+'lto:'+'bac'+'at'+'oma'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">bacat<span style="display: none;">.nosp@m.</span>oma@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> (original implementation) </dd>
+<dd>
+Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> (rewrite, documentation) </dd></dl>
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+<title>mrs_lib: include/mrs_lib/ukf.h Source File</title>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="headertitle">
+<div class="title">ukf.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="ukf_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#ifndef UKF_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#define UKF_H</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="kalman__filter_8h.html">mrs_lib/kalman_filter.h</a>&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html">   39</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1UKF.html">UKF</a> : <a class="code" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter</a>&lt;n_states, n_inputs, n_measurements&gt;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  {</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">/* protected UKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">   43</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a> = n_states;            </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">   44</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1UKF.html#a81c0e0d290f9eb1aecd28b0e0fa3b7ce">m</a> = n_inputs;            </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">   45</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1UKF.html#a0042b2b7c0deb10b5bb2825f10c5d769">p</a> = n_measurements;      </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">   46</a></span>&#160;    <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">w</a> = 2 * <a class="code" href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">n</a> + 1;           </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#ae5a0eb2f31131ed4cec117d4a1000080">   48</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html">Base_class</a> = <a class="code" href="classmrs__lib_1_1KalmanFilter.html">KalmanFilter&lt;n, m, p&gt;</a>; </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">   50</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;double, n, w&gt;;    </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">   51</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">Z_t</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;double, p, w&gt;;    </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">   52</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;double, p, p&gt;;  </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">   53</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;double, n, p&gt;;    </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">/* public UKF definitions (typedefs, constants etc) //{ */</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">   59</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">Base_class::x_t</a>;</div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a6589d6a1f5eba355f1bec91e99826b71">   61</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">Base_class::u_t</a>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">   63</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">Base_class::z_t</a>;</div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">   65</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">Base_class::P_t</a>;</div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a0af0d9a246df0798b1cb1308cec82fd2">   67</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">Base_class::R_t</a>;</div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#abd8f845f1b3f138949bd95c7dc12e011">   69</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a> = <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Base_class::Q_t</a>;</div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">   71</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a> = <span class="keyword">typename</span> Eigen::Matrix&lt;double, w, 1&gt;;</div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">   73</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> = <span class="keyword">typename</span> <a class="code" href="structmrs__lib_1_1KalmanFilter_1_1statecov__t.html">Base_class::statecov_t</a>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">   75</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> = <span class="keyword">typename</span> std::function&lt;<a class="code" href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">x_t</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>&amp;, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp;, <span class="keywordtype">double</span>)&gt;;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">   77</a></span>&#160;    <span class="keyword">using</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> = <span class="keyword">typename</span> std::function&lt;<a class="code" href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">z_t</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>&amp;)&gt;;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1UKF_1_1square__root__exception.html">   80</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1UKF_1_1square__root__exception.html">square_root_exception</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>()</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      {</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordflow">return</span> <span class="stringliteral">&quot;UKF: taking the square root of covariance update produced NANs!!!&quot;</span>;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    };</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">   89</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">inverse_exception</a> : <span class="keyword">public</span> std::exception</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    {</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> <span class="keywordflow">throw</span>()</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">return</span> <span class="stringliteral">&quot;UKF: inverting of Pzz in correction update produced NANs!!!&quot;</span>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      }</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    };</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">/* UKF constructor //{ */</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF</a>();</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a>&amp; transition_model, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a>&amp; observation_model, <span class="keyword">const</span> <span class="keywordtype">double</span> alpha = 1e-3, <span class="keyword">const</span> <span class="keywordtype">double</span> kappa = 1, <span class="keyword">const</span> <span class="keywordtype">double</span> beta = 2);</div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">/* correct() method //{ */</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> <a class="code" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">correct</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&amp; R) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="comment">/* predict() method //{ */</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> <a class="code" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">predict</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, <span class="keywordtype">double</span> dt) <span class="keyword">const override</span>;</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">/* setConstants() method //{ */</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">setConstants</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> alpha, <span class="keyword">const</span> <span class="keywordtype">double</span> kappa, <span class="keyword">const</span> <span class="keywordtype">double</span> beta);</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">/* setTransitionModel() method //{ */</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">setTransitionModel</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a>&amp; transition_model);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="comment">/* setObservationModel() method //{ */</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">setObservationModel</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a>&amp; observation_model);</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">/* protected methods and member variables //{ */</span></div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordtype">void</span> computeWeights();</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> computeSigmas(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>&amp; x, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&amp; P) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a> computePaSqrt(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">P_t</a>&amp; P) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> computeInverse(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a>&amp; Pzz) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">virtual</span> <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> computeKalmanGain([[maybe_unused]] <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a>&amp; x, [[maybe_unused]] <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>&amp; inn, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a>&amp; Pxz, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a>&amp; Pzz) <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">double</span> m_alpha, m_kappa, m_beta, m_lambda;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a> m_Wm;</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a> m_Wc;</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a> m_transition_model;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a> m_observation_model;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  };</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="ukf_8hpp.html">mrs_lib/impl/ukf.hpp</a>&gt;</span></div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a1435f2ed4e333151990355813cee95ba"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">mrs_lib::UKF::X_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, n, w &gt; X_t</div><div class="ttdoc">State sigma points matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:50</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a646b7755aaa478bb86d89e1923d5ed2a"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">mrs_lib::UKF::setConstants</a></div><div class="ttdeci">void setConstants(const double alpha, const double kappa, const double beta)</div><div class="ttdoc">Changes the Unscented Transform parameters.</div><div class="ttdef"><b>Definition:</b> ukf.hpp:61</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a7a68877ffa7bd8bb10f16d1f104e0a73"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a7a68877ffa7bd8bb10f16d1f104e0a73">mrs_lib::UKF::z_t</a></div><div class="ttdeci">typename Base_class::z_t z_t</div><div class="ttdoc">measurement vector p*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:63</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a42270573cc14c2339a46841a5d3e264e"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a42270573cc14c2339a46841a5d3e264e">mrs_lib::UKF::n</a></div><div class="ttdeci">static constexpr int n</div><div class="ttdoc">Length of the state vector of the system.</div><div class="ttdef"><b>Definition:</b> ukf.h:43</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a1e4c8aa79cfcea707876d85950132450"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">mrs_lib::KalmanFilter::R_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ace5416fd8ac52fba822337bceaf751a7"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">mrs_lib::UKF::K_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, n, p &gt; K_t</div><div class="ttdoc">Kalman gain matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:53</div></div>
+<div class="ttc" id="aukf_8hpp_html"><div class="ttname"><a href="ukf_8hpp.html">ukf.hpp</a></div><div class="ttdoc">Implements UKF - a class implementing the Unscented Kalman Filter.</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a986f17f015282a33b140af4adabce091"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">mrs_lib::UKF::transition_model_t</a></div><div class="ttdeci">typename std::function&lt; x_t(const x_t &amp;, const u_t &amp;, double)&gt; transition_model_t</div><div class="ttdoc">function of the state transition model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:75</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ad31a0a6b6c1ea433daa0bae83e6fb6e4"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">mrs_lib::UKF::correct</a></div><div class="ttdeci">virtual statecov_t correct(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</div><div class="ttdoc">Implements the state correction step (measurement update).</div><div class="ttdef"><b>Definition:</b> ukf.hpp:223</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a8f5e50ea6668129218bd4113f4ffdf6f"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a8f5e50ea6668129218bd4113f4ffdf6f">mrs_lib::KalmanFilter::P_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; P_t</div><div class="ttdoc">State uncertainty covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:38</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a604c0bfee69ee5a34dc4412af3cc6e53"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">mrs_lib::UKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">typedef of a helper struct for state and covariance</div><div class="ttdef"><b>Definition:</b> ukf.h:73</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_ad92ac4f280e849986554bc593e5ab96e"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">mrs_lib::KalmanFilter::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, m, 1 &gt; u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:35</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a2bbb3c02f086402351601ca3c3a4c52f"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a2bbb3c02f086402351601ca3c3a4c52f">mrs_lib::UKF::w</a></div><div class="ttdeci">static constexpr int w</div><div class="ttdoc">Number of sigma points/weights.</div><div class="ttdef"><b>Definition:</b> ukf.h:46</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ac515ea8c688d7ee67250c384417f9ab9"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">mrs_lib::UKF::observation_model_t</a></div><div class="ttdeci">typename std::function&lt; z_t(const x_t &amp;)&gt; observation_model_t</div><div class="ttdoc">function of the observation model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:77</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a272c7435d05b9a8867df4bd131f01177"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">mrs_lib::UKF::setObservationModel</a></div><div class="ttdeci">void setObservationModel(const observation_model_t &amp;observation_model)</div><div class="ttdoc">Changes the observation model function.</div><div class="ttdef"><b>Definition:</b> ukf.hpp:85</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a5b8f47081daf208496a19a4364e6509c"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">mrs_lib::KalmanFilter::x_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, 1 &gt; x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:34</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+<div class="ttc" id="akalman__filter_8h_html"><div class="ttname"><a href="kalman__filter_8h.html">kalman_filter.h</a></div><div class="ttdoc">Defines KalmanFilter - an abstract class, defining common interfaces and types for a generic Kalman f...</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_af11dc75b608a43930e8289c51e8ab7c6"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">mrs_lib::UKF::Pzz_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, p, p &gt; Pzz_t</div><div class="ttdoc">Pzz helper matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:52</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a4c9c1e158bb4b6739b8bfdbdc1369c41"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">mrs_lib::UKF::predict</a></div><div class="ttdeci">virtual statecov_t predict(const statecov_t &amp;sc, const u_t &amp;u, const Q_t &amp;Q, double dt) const override</div><div class="ttdoc">Implements the state prediction step (time update).</div><div class="ttdef"><b>Definition:</b> ukf.hpp:178</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a5ab9d25f7b2470c7abeacda7f8b80630"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a5ab9d25f7b2470c7abeacda7f8b80630">mrs_lib::UKF::x_t</a></div><div class="ttdeci">typename Base_class::x_t x_t</div><div class="ttdoc">state vector n*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:59</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_ab2c5ddabe3fc919334595ec1e535c848"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">mrs_lib::KalmanFilter::Q_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, n &gt; Q_t</div><div class="ttdoc">Process noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:40</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a0825f38a6a4ddc522239bb7bf6279737"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">mrs_lib::KalmanFilter::z_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, 1 &gt; z_t</div><div class="ttdoc">Measurement vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:36</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a06a3fae37e8a0613d8169b638c4c0001"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">mrs_lib::UKF::Z_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, p, w &gt; Z_t</div><div class="ttdoc">Measurement sigma points matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:51</div></div>
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+<div class="ttc" id="aclassmrs__lib_1_1UKF_html"><div class="ttname"><a href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a></div><div class="ttdoc">Implementation of the Unscented Kalman filter .</div><div class="ttdef"><b>Definition:</b> ukf.h:39</div></div>
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+
+<p>Implements UKF - a class implementing the Unscented Kalman Filter.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;ros/ros.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="ukf_8h_source.html">mrs_lib/ukf.h</a>&gt;</code><br />
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Implements UKF - a class implementing the Unscented Kalman Filter. </p>
+<dl class="section author"><dt>Author</dt><dd>Tomáš Báča - <a href="#" onclick="location.href='mai'+'lto:'+'bac'+'at'+'oma'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">bacat<span style="display: none;">.nosp@m.</span>oma@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> (original implementation) </dd>
+<dd>
+Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> (rewrite, documentation) </dd></dl>
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+<div class="title">ukf.hpp</div>  </div>
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+<div class="contents">
+<a href="ukf_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160; </div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#ifndef UKF_HPP</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#define UKF_HPP</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="ukf_8h.html">mrs_lib/ukf.h</a>&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">/* constructor //{ */</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">   20</a></span>&#160;  <a class="code" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF&lt;n_states, n_inputs, n_measurements&gt;::UKF</a>()</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  }</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160; </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a43f196bc0b8ef4dd75feba3b025576cb">   25</a></span>&#160;  <a class="code" href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">UKF&lt;n_states, n_inputs, n_measurements&gt;::UKF</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a>&amp; transition_model, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a>&amp; observation_model, <span class="keyword">const</span> <span class="keywordtype">double</span> alpha, <span class="keyword">const</span> <span class="keywordtype">double</span> kappa, <span class="keyword">const</span> <span class="keywordtype">double</span> beta)</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    : m_alpha(alpha), m_kappa(kappa), m_beta(beta), m_Wm(<a class="code" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a>::Zero()), m_Wc(<a class="code" href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">W_t</a>::Zero()), m_transition_model(transition_model), m_observation_model(observation_model)</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  {</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    assert(alpha &gt; 0.0);</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    computeWeights();</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  }</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="comment">/* computeWeights() //{ */</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html">UKF&lt;n_states, n_inputs, n_measurements&gt;::computeWeights</a>()</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  {</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="comment">// initialize lambda</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="comment">/* m_lambda = double(n) * (m_alpha * m_alpha - 1.0); */</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    m_lambda = m_alpha*m_alpha*(double(n) + m_kappa) - <span class="keywordtype">double</span>(n);</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">// initialize first terms of the weights</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    m_Wm(0) = m_lambda / (double(n) + m_lambda);</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    m_Wc(0) = m_Wm(0) + (1.0 - m_alpha*m_alpha + m_beta);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">// initialize the rest of the weights</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; w; i++)</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    {</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      m_Wm(i) = (1.0 - m_Wm(0))/(w - 1.0);</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      m_Wc(i) = m_Wm(i);</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    }</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  }</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">/* setConstants() //{ */</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// update the UKF constants</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">   61</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">UKF&lt;n_states, n_inputs, n_measurements&gt;::setConstants</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> alpha, <span class="keyword">const</span> <span class="keywordtype">double</span> kappa, <span class="keyword">const</span> <span class="keywordtype">double</span> beta)</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    m_alpha = alpha;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    m_kappa = kappa;</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    m_beta  = beta;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    computeWeights();</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">/* setTransitionModel() method //{ */</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">   75</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">UKF&lt;n_states, n_inputs, n_measurements&gt;::setTransitionModel</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">transition_model_t</a>&amp; transition_model)</div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      m_transition_model = transition_model;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    }</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">/* setObservationModel() method //{ */</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">   85</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">UKF&lt;n_states, n_inputs, n_measurements&gt;::setObservationModel</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">observation_model_t</a>&amp; observation_model)</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    {</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      m_observation_model = observation_model;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="comment">/* computePaSqrt() method //{ */</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#ac1128f5d7fa36305a52859a752a97fda">UKF&lt;n_states, n_inputs, n_measurements&gt;::P_t</a> <a class="code" href="classmrs__lib_1_1UKF.html">UKF&lt;n_states, n_inputs, n_measurements&gt;::computePaSqrt</a>(<span class="keyword">const</span> P_t&amp; P)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// calculate the square root of the covariance matrix</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keyword">const</span> P_t Pa = (double(n) + m_lambda)*P;</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">/* Eigen::SelfAdjointEigenSolver&lt;P_t&gt; es(Pa); */</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    Eigen::LLT&lt;P_t&gt; llt(Pa);</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">if</span> (llt.info() != Eigen::Success)</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    {</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      P_t tmp = Pa + (double(n) + m_lambda)*1e-9*P_t::Identity();</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      llt.compute(tmp);</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordflow">if</span> (llt.info() != Eigen::Success)</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      {</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        ROS_WARN(<span class="stringliteral">&quot;UKF: taking the square root of covariance during sigma point generation failed.&quot;</span>);</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordflow">throw</span> square_root_exception();</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      }</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">const</span> P_t Pa_sqrt = llt.matrixL();</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">return</span> Pa_sqrt;</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">/* computeInverse() method //{ */</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">UKF&lt;n_states, n_inputs, n_measurements&gt;::Pzz_t</a> UKF&lt;n_states, n_inputs, n_measurements&gt;::computeInverse(<span class="keyword">const</span> Pzz_t&amp; Pzz)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    Eigen::ColPivHouseholderQR&lt;Pzz_t&gt; qr(Pzz);</div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span> (!qr.isInvertible())</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    {</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="comment">// add some stuff to the tmp matrix diagonal to make it invertible</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      Pzz_t tmp = Pzz + 1e-9*Pzz_t::Identity(Pzz.rows(), Pzz.cols());</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      qr.compute(tmp);</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">if</span> (!qr.isInvertible())</div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="comment">// never managed to make this happen except for explicitly putting NaNs in the input</span></div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        ROS_ERROR(<span class="stringliteral">&quot;UKF: could not compute matrix inversion!!! Fix your covariances (the measurement&#39;s is probably too low...)&quot;</span>);</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">throw</span> inverse_exception();</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      }</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      ROS_WARN(<span class="stringliteral">&quot;UKF: artificially inflating matrix for inverse computation! Check your covariances (the measurement&#39;s might be too low...)&quot;</span>);</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    Pzz_t ret = qr.inverse();</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="comment">/* computeKalmanGain() method //{ */</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">UKF&lt;n_states, n_inputs, n_measurements&gt;::K_t</a> UKF&lt;n_states, n_inputs, n_measurements&gt;::computeKalmanGain([[maybe_unused]] <span class="keyword">const</span> x_t&amp; x, [[maybe_unused]] <span class="keyword">const</span> z_t&amp; inn, <span class="keyword">const</span> K_t&amp; Pxz, <span class="keyword">const</span> Pzz_t&amp; Pzz)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> Pzz_t Pzz_inv = computeInverse(Pzz);</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">const</span> K_t K = Pxz * Pzz_inv;</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">return</span> K;</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  }</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">/* computeSigmas() method //{ */</span></div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">UKF&lt;n_states, n_inputs, n_measurements&gt;::X_t</a> UKF&lt;n_states, n_inputs, n_measurements&gt;::computeSigmas(<span class="keyword">const</span> x_t&amp; x, <span class="keyword">const</span> P_t&amp; P)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="comment">// calculate sigma points</span></div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="comment">// fill in the middle of the elipsoid</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    X_t S;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    S.col(0) = x;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">const</span> P_t P_sqrt = computePaSqrt(P);</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> xrep = x.replicate(1, n);</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="comment">// positive sigma points</span></div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    S.template block&lt;n, n&gt;(0, 1) = xrep + P_sqrt;</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="comment">// negative sigma points</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    S.template block&lt;n, n&gt;(0, n+1) = xrep - P_sqrt;</div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;x: &quot; &lt;&lt; std::endl &lt;&lt; x &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;S rowmean: &quot; &lt;&lt; std::endl &lt;&lt; S.rowwise().mean() &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span> S;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">/* predict() method //{ */</span></div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">  178</a></span>&#160;  <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">UKF&lt;n_states, n_inputs, n_measurements&gt;::statecov_t</a> <a class="code" href="classmrs__lib_1_1UKF.html#a4c9c1e158bb4b6739b8bfdbdc1369c41">UKF&lt;n_states, n_inputs, n_measurements&gt;::predict</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">u_t</a>&amp; u, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#ab2c5ddabe3fc919334595ec1e535c848">Q_t</a>&amp; Q, <span class="keywordtype">double</span> dt)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x = sc.x;</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; P = sc.P;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> ret;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> S = computeSigmas(x, P);</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// propagate sigmas through the transition model</span></div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> X;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    {</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      X.col(i) = m_transition_model(S.col(i), u, dt);</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    }</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;x: &quot; &lt;&lt; std::endl &lt;&lt; x &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;X rowmean: &quot; &lt;&lt; std::endl &lt;&lt; X.rowwise().mean() &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">/* std::cout &lt;&lt; &quot;m_Wm sum: &quot; &lt;&lt; m_Wm.sum() &lt;&lt; std::endl; */</span></div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">// recompute the state vector</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    ret.x = x_t::Zero();</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    {</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="comment">//TODO: WHY DOES THIS SHIT WORK IF I SUBSTITUTE m_Wm(i) FOR 1.0/w ??</span></div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">x_t</a> tmp = 1.0/w * X.col(i);</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="comment">/* x_t tmp = m_Wm(i) * X.col(i); */</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      ret.x += tmp;</div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">// recompute the covariance</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    ret.P = P_t::Zero();</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    {</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      ret.P += m_Wc(i) * (X.col(i) - ret.x) * (X.col(i) - ret.x).transpose();</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    }</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    ret.P += Q;</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="comment">/* correct() method //{ */</span></div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> n_states, <span class="keywordtype">int</span> n_inputs, <span class="keywordtype">int</span> n_measurements&gt;</div>
+<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">  223</a></span>&#160;  <span class="keyword">typename</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">UKF&lt;n_states, n_inputs, n_measurements&gt;::statecov_t</a> <a class="code" href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">UKF&lt;n_states, n_inputs, n_measurements&gt;::correct</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a>&amp; sc, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a>&amp; z, <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">R_t</a>&amp; R)<span class="keyword"> const</span></div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">  </span>{</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; x = sc.x;</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span>&amp; P = sc.P;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">X_t</a> S = computeSigmas(x, P);</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="comment">// propagate sigmas through the observation model</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#a06a3fae37e8a0613d8169b638c4c0001">Z_t</a> Z_exp(z.rows(), w);</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    {</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      Z_exp.col(i) = m_observation_model(S.col(i));</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    }</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// compute expected measurement</span></div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> z_exp = z_t::Zero(z.rows());</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    {</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      z_exp += m_Wm(i) * Z_exp.col(i);</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    }</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">// compute the covariance of measurement</span></div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#af11dc75b608a43930e8289c51e8ab7c6">Pzz_t</a> Pzz = Pzz_t::Zero(z.rows(), z.rows());</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    {</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      Pzz += m_Wc(i) * (Z_exp.col(i) - z_exp) * (Z_exp.col(i) - z_exp).transpose();</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    }</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    Pzz += R;</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="comment">// compute cross covariance</span></div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> Pxz = K_t::Zero(n, z.rows());</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; w; i++)</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    {</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      Pxz += m_Wc(i) * (S.col(i) - x) * (Z_exp.col(i) - z_exp).transpose();</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="comment">// compute Kalman gain</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1KalmanFilter.html#a0825f38a6a4ddc522239bb7bf6279737">z_t</a> inn = (z - z_exp); <span class="comment">// innovation</span></div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">K_t</a> K = computeKalmanGain(sc.x, inn, Pxz, Pzz);</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="comment">// check whether the inverse produced valid numbers</span></div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordflow">if</span> (!K.array().isFinite().all())</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    {</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      ROS_ERROR(<span class="stringliteral">&quot;UKF: inverting of Pzz in correction update produced non-finite numbers!!! Fix your covariances (the measurement&#39;s is probably too low...)&quot;</span>);</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      <span class="keywordflow">throw</span> <a class="code" href="structmrs__lib_1_1UKF_1_1inverse__exception.html">inverse_exception</a>();</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    }</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="comment">// correct</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <a class="code" href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">statecov_t</a> ret;</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    ret.x = x + K * inn;</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    ret.P = P - K * Pzz * K.transpose();</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  }</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a1435f2ed4e333151990355813cee95ba"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a1435f2ed4e333151990355813cee95ba">mrs_lib::UKF::X_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, n, w &gt; X_t</div><div class="ttdoc">State sigma points matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:50</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a646b7755aaa478bb86d89e1923d5ed2a"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a646b7755aaa478bb86d89e1923d5ed2a">mrs_lib::UKF::setConstants</a></div><div class="ttdeci">void setConstants(const double alpha, const double kappa, const double beta)</div><div class="ttdoc">Changes the Unscented Transform parameters.</div><div class="ttdef"><b>Definition:</b> ukf.hpp:61</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_acf37d546ec0e03f1ef4c031f96057733"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#acf37d546ec0e03f1ef4c031f96057733">mrs_lib::UKF::UKF</a></div><div class="ttdeci">UKF()</div><div class="ttdoc">Convenience default constructor.</div><div class="ttdef"><b>Definition:</b> ukf.hpp:20</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a1e4c8aa79cfcea707876d85950132450"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a1e4c8aa79cfcea707876d85950132450">mrs_lib::KalmanFilter::R_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, p, p &gt; R_t</div><div class="ttdoc">Measurement noise covariance matrix type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:39</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ace5416fd8ac52fba822337bceaf751a7"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ace5416fd8ac52fba822337bceaf751a7">mrs_lib::UKF::K_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, n, p &gt; K_t</div><div class="ttdoc">Kalman gain matrix.</div><div class="ttdef"><b>Definition:</b> ukf.h:53</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a986f17f015282a33b140af4adabce091"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a986f17f015282a33b140af4adabce091">mrs_lib::UKF::transition_model_t</a></div><div class="ttdeci">typename std::function&lt; x_t(const x_t &amp;, const u_t &amp;, double)&gt; transition_model_t</div><div class="ttdoc">function of the state transition model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:75</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ad31a0a6b6c1ea433daa0bae83e6fb6e4"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ad31a0a6b6c1ea433daa0bae83e6fb6e4">mrs_lib::UKF::correct</a></div><div class="ttdeci">virtual statecov_t correct(const statecov_t &amp;sc, const z_t &amp;z, const R_t &amp;R) const override</div><div class="ttdoc">Implements the state correction step (measurement update).</div><div class="ttdef"><b>Definition:</b> ukf.hpp:223</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a604c0bfee69ee5a34dc4412af3cc6e53"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a604c0bfee69ee5a34dc4412af3cc6e53">mrs_lib::UKF::statecov_t</a></div><div class="ttdeci">typename Base_class::statecov_t statecov_t</div><div class="ttdoc">typedef of a helper struct for state and covariance</div><div class="ttdef"><b>Definition:</b> ukf.h:73</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_aca628bd6d14b59b9d0a10652a2665a32"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#aca628bd6d14b59b9d0a10652a2665a32">mrs_lib::UKF::W_t</a></div><div class="ttdeci">typename Eigen::Matrix&lt; double, w, 1 &gt; W_t</div><div class="ttdoc">weights vector (2n+1)*1 typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:71</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_ad92ac4f280e849986554bc593e5ab96e"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#ad92ac4f280e849986554bc593e5ab96e">mrs_lib::KalmanFilter::u_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, m, 1 &gt; u_t</div><div class="ttdoc">Input vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:35</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_ac515ea8c688d7ee67250c384417f9ab9"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#ac515ea8c688d7ee67250c384417f9ab9">mrs_lib::UKF::observation_model_t</a></div><div class="ttdeci">typename std::function&lt; z_t(const x_t &amp;)&gt; observation_model_t</div><div class="ttdoc">function of the observation model typedef</div><div class="ttdef"><b>Definition:</b> ukf.h:77</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a272c7435d05b9a8867df4bd131f01177"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a272c7435d05b9a8867df4bd131f01177">mrs_lib::UKF::setObservationModel</a></div><div class="ttdeci">void setObservationModel(const observation_model_t &amp;observation_model)</div><div class="ttdoc">Changes the observation model function.</div><div class="ttdef"><b>Definition:</b> ukf.hpp:85</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1KalmanFilter_html_a5b8f47081daf208496a19a4364e6509c"><div class="ttname"><a href="classmrs__lib_1_1KalmanFilter.html#a5b8f47081daf208496a19a4364e6509c">mrs_lib::KalmanFilter::x_t</a></div><div class="ttdeci">Eigen::Matrix&lt; double, n, 1 &gt; x_t</div><div class="ttdoc">State vector type .</div><div class="ttdef"><b>Definition:</b> kalman_filter.h:34</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html_a724d2e508dd45e4e6cb7b08b023cae34"><div class="ttname"><a href="classmrs__lib_1_1UKF.html#a724d2e508dd45e4e6cb7b08b023cae34">mrs_lib::UKF::setTransitionModel</a></div><div class="ttdeci">void setTransitionModel(const transition_model_t &amp;transition_model)</div><div class="ttdoc">Changes the transition model function.</div><div class="ttdef"><b>Definition:</b> ukf.hpp:75</div></div>
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+<div class="ttc" id="aukf_8h_html"><div class="ttname"><a href="ukf_8h.html">ukf.h</a></div><div class="ttdoc">Defines UKF - a class implementing the Unscented Kalman Filter .</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1UKF_html"><div class="ttname"><a href="classmrs__lib_1_1UKF.html">mrs_lib::UKF</a></div><div class="ttdoc">Implementation of the Unscented Kalman filter .</div><div class="ttdef"><b>Definition:</b> ukf.h:39</div></div>
+<div class="ttc" id="astructmrs__lib_1_1UKF_1_1inverse__exception_html"><div class="ttname"><a href="structmrs__lib_1_1UKF_1_1inverse__exception.html">mrs_lib::UKF::inverse_exception</a></div><div class="ttdoc">is thrown when taking the inverse of a matrix fails during kalman gain calculation</div><div class="ttdef"><b>Definition:</b> ukf.h:89</div></div>
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
+  </td>
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+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">utils.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Defines various general utility functions.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;iterator&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;sstream&gt;</code><br />
+<code>#include &lt;atomic&gt;</code><br />
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+<p><a href="utils_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrs__lib_1_1AtomicScopeFlag.html">mrs_lib::AtomicScopeFlag</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
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+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:adcd658b38c38786fa906e95b1252393a"><td class="memTemplParams" colspan="2">template&lt;typename Iterator &gt; </td></tr>
+<tr class="memitem:adcd658b38c38786fa906e95b1252393a"><td class="memTemplItemLeft" align="right" valign="top">std::string&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">mrs_lib::containerToString</a> (const Iterator begin, const Iterator end, const std::string &amp;delimiter=&quot;, &quot;)</td></tr>
+<tr class="memdesc:adcd658b38c38786fa906e95b1252393a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience function for converting container ranges to strings (e.g. for printing).  <a href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">More...</a><br /></td></tr>
+<tr class="separator:adcd658b38c38786fa906e95b1252393a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a10c2af0f8c317177ca6abca5fd80a52a"><td class="memTemplParams" colspan="2">template&lt;typename Iterator &gt; </td></tr>
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+<tr class="memdesc:a10c2af0f8c317177ca6abca5fd80a52a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience function for converting container ranges to strings (e.g. for printing).  <a href="namespacemrs__lib.html#a10c2af0f8c317177ca6abca5fd80a52a">More...</a><br /></td></tr>
+<tr class="separator:a10c2af0f8c317177ca6abca5fd80a52a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c0c2c8502894646615382a9134c866a"><td class="memTemplParams" colspan="2">template&lt;typename Container &gt; </td></tr>
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+<tr class="memdesc:a1c0c2c8502894646615382a9134c866a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience function for converting containers to strings (e.g. for printing).  <a href="namespacemrs__lib.html#a1c0c2c8502894646615382a9134c866a">More...</a><br /></td></tr>
+<tr class="separator:a1c0c2c8502894646615382a9134c866a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5bd70829aedd3ff4a67d8902855eed9"><td class="memTemplParams" colspan="2">template&lt;typename Container &gt; </td></tr>
+<tr class="memitem:ad5bd70829aedd3ff4a67d8902855eed9"><td class="memTemplItemLeft" align="right" valign="top">std::string&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#ad5bd70829aedd3ff4a67d8902855eed9">mrs_lib::containerToString</a> (const Container &amp;cont, const char *delimiter=&quot;, &quot;)</td></tr>
+<tr class="memdesc:ad5bd70829aedd3ff4a67d8902855eed9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience function for converting containers to strings (e.g. for printing).  <a href="namespacemrs__lib.html#ad5bd70829aedd3ff4a67d8902855eed9">More...</a><br /></td></tr>
+<tr class="separator:ad5bd70829aedd3ff4a67d8902855eed9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a006d8eb9265ad5e8b2f908df6deb55b5"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
+<tr class="memitem:a006d8eb9265ad5e8b2f908df6deb55b5"><td class="memTemplItemLeft" align="right" valign="top">T::iterator&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">mrs_lib::remove_const</a> (const typename T::const_iterator &amp;it, T &amp;cont)</td></tr>
+<tr class="memdesc:a006d8eb9265ad5e8b2f908df6deb55b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience class for removing const-ness from a container iterator.  <a href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">More...</a><br /></td></tr>
+<tr class="separator:a006d8eb9265ad5e8b2f908df6deb55b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a860d8ff84b45a6a45863d410b54a6dec"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><b>mrs_lib::signum</b> (T val)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Defines various general utility functions. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd>
+<dd>
+Viktor Walter - <a href="#" onclick="location.href='mai'+'lto:'+'wal'+'ve'+'r.v'+'ik'+'tor'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">walve<span style="display: none;">.nosp@m.</span>r.vi<span style="display: none;">.nosp@m.</span>ktor@<span style="display: none;">.nosp@m.</span>fel.<span style="display: none;">.nosp@m.</span>cvut.<span style="display: none;">.nosp@m.</span>cz</a> </dd>
+<dd>
+Tomáš Báča - <a href="#" onclick="location.href='mai'+'lto:'+'bac'+'a.'+'tom'+'as'+'@fe'+'l.'+'cvu'+'t.'+'cz'; return false;">baca.<span style="display: none;">.nosp@m.</span>toma<span style="display: none;">.nosp@m.</span>s@fel<span style="display: none;">.nosp@m.</span>.cvu<span style="display: none;">.nosp@m.</span>t.cz</a> </dd></dl>
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+</div><!-- doc-content -->
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diff --git a/utils_8h__incl.md5 b/utils_8h__incl.md5
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+  <td id="projectlogo"><img alt="Logo" src="mrs_logo.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">mrs_lib
+   </div>
+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">utils.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef UTILS_H</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define UTILS_H</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iterator&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="comment">/* containerToString() function //{ */</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">   30</a></span>&#160;  std::string <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(<span class="keyword">const</span> Iterator begin, <span class="keyword">const</span> Iterator end, <span class="keyword">const</span> std::string&amp; delimiter = <span class="stringliteral">&quot;, &quot;</span>)</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordtype">bool</span> first = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    std::ostringstream output;</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordflow">for</span> (Iterator it = begin; it != end; it++)</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      <span class="keywordflow">if</span> (!first)</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        output &lt;&lt; delimiter;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      output &lt;&lt; *it;</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      first = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    }</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordflow">return</span> output.str();</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Iterator&gt;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a10c2af0f8c317177ca6abca5fd80a52a">   54</a></span>&#160;  std::string <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(<span class="keyword">const</span> Iterator begin, <span class="keyword">const</span> Iterator end, <span class="keyword">const</span> <span class="keywordtype">char</span>* delimiter)</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  {</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(begin, end, std::string(delimiter));</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Container&gt;</div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a1c0c2c8502894646615382a9134c866a">   68</a></span>&#160;  std::string <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(<span class="keyword">const</span> Container&amp; cont, <span class="keyword">const</span> std::string&amp; delimiter = <span class="stringliteral">&quot;, &quot;</span>)</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  {</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(std::begin(cont), std::end(cont), delimiter);</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Container&gt;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#ad5bd70829aedd3ff4a67d8902855eed9">   82</a></span>&#160;  std::string <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(<span class="keyword">const</span> Container&amp; cont, <span class="keyword">const</span> <span class="keywordtype">char</span>* delimiter = <span class="stringliteral">&quot;, &quot;</span>)</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  {</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">containerToString</a>(std::begin(cont), std::end(cont), std::string(delimiter));</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">/* remove_const() function //{ */</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">  100</a></span>&#160;  <span class="keyword">typename</span> T::iterator <a class="code" href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">remove_const</a>(<span class="keyword">const</span> <span class="keyword">typename</span> T::const_iterator&amp; it, T&amp; cont)</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  {</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">typename</span> T::iterator ret = cont.begin();</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    std::advance(ret, std::distance((<span class="keyword">typename</span> T::const_iterator)ret, it));</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">//}</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
+<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1AtomicScopeFlag.html">  114</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classmrs__lib_1_1AtomicScopeFlag.html">AtomicScopeFlag</a></div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">AtomicScopeFlag</a>(std::atomic&lt;bool&gt;&amp; in);</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <a class="code" href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">~AtomicScopeFlag</a>();</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    std::atomic&lt;bool&gt;&amp; variable;</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  };</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">// branchless, templated, more efficient version of the signum function</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="comment">// taken from https://stackoverflow.com/questions/1903954/is-there-a-standard-sign-function-signum-sgn-in-c-c</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordtype">int</span> signum(T val)</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  {</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">return</span> (T(0) &lt; val) - (val &lt; T(0));</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  }</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1AtomicScopeFlag_html"><div class="ttname"><a href="classmrs__lib_1_1AtomicScopeFlag.html">mrs_lib::AtomicScopeFlag</a></div><div class="ttdoc">Convenience class for automatically setting and unsetting an atomic boolean based on the object's sco...</div><div class="ttdef"><b>Definition:</b> utils.h:114</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_adcd658b38c38786fa906e95b1252393a"><div class="ttname"><a href="namespacemrs__lib.html#adcd658b38c38786fa906e95b1252393a">mrs_lib::containerToString</a></div><div class="ttdeci">std::string containerToString(const Iterator begin, const Iterator end, const std::string &amp;delimiter=&quot;, &quot;)</div><div class="ttdoc">Convenience function for converting container ranges to strings (e.g. for printing).</div><div class="ttdef"><b>Definition:</b> utils.h:30</div></div>
+<div class="ttc" id="anamespacemrs__lib_html_a006d8eb9265ad5e8b2f908df6deb55b5"><div class="ttname"><a href="namespacemrs__lib.html#a006d8eb9265ad5e8b2f908df6deb55b5">mrs_lib::remove_const</a></div><div class="ttdeci">T::iterator remove_const(const typename T::const_iterator &amp;it, T &amp;cont)</div><div class="ttdoc">Convenience class for removing const-ness from a container iterator.</div><div class="ttdef"><b>Definition:</b> utils.h:100</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AtomicScopeFlag_html_a168dc1d0a0ae38b254d89a84afdc4cab"><div class="ttname"><a href="classmrs__lib_1_1AtomicScopeFlag.html#a168dc1d0a0ae38b254d89a84afdc4cab">mrs_lib::AtomicScopeFlag::AtomicScopeFlag</a></div><div class="ttdeci">AtomicScopeFlag(std::atomic&lt; bool &gt; &amp;in)</div><div class="ttdoc">The constructor. Sets the flag in to true.</div><div class="ttdef"><b>Definition:</b> utils.cpp:6</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1AtomicScopeFlag_html_aafdf61c0af0bffada120eec2a8c858b1"><div class="ttname"><a href="classmrs__lib_1_1AtomicScopeFlag.html#aafdf61c0af0bffada120eec2a8c858b1">mrs_lib::AtomicScopeFlag::~AtomicScopeFlag</a></div><div class="ttdeci">~AtomicScopeFlag()</div><div class="ttdoc">The destructor. Resets the variable given in the constructor to false.</div><div class="ttdef"><b>Definition:</b> utils.cpp:12</div></div>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">example.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Example file for the <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca" title="Converts between different vector representations.">convert()</a> vector type conversion function.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;geometry_msgs/Vector3.h&gt;</code><br />
+<code>#include &lt;Eigen/Dense&gt;</code><br />
+<code>#include &lt;pcl/point_types.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="vector__converter_8h_source.html">mrs_lib/vector_converter.h</a>&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for example.cpp:</div>
+<div id="dynsection-0-summary" class="dynsummary" style="display:block;">
+</div>
+<div id="dynsection-0-content" class="dyncontent" style="display:none;">
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+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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+std::tuple&lt; double, double, double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::impl::convertFrom</b> (const <a class="el" href="structMyPoint.html">MyPoint</a> &amp;in)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>mrs_lib::impl::convertTo</b> (<a class="el" href="structMyPoint.html">MyPoint</a> &amp;ret, const double x, const double y, const double z)</td></tr>
+<tr class="separator:af40c76d70b6c9cce94cf336ac620887c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae66f6b31b5ad750f1fe042a706a4e3d4"><td class="memItemLeft" align="right" valign="top"><a id="ae66f6b31b5ad750f1fe042a706a4e3d4"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><b>main</b> ()</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Example file for the <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca" title="Converts between different vector representations.">convert()</a> vector type conversion function. </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a></dd></dl>
+<p>This example may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> vector_converter_example</code>.</p>
+<p>See <a class="el" href="vector_converter_2example_8cpp-example.html">vector_converter/example.cpp</a>. </p>
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+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
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+<p>Defines the <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca" title="Converts between different vector representations.">convert()</a> function for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).  
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="title">vector_converter.h</div>  </div>
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+<a href="vector__converter_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef VECTOR_CONVERTER_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define VECTOR_CONVERTER_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;tuple&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="vector__converter_8hpp.html">mrs_lib/impl/vector_converter.hpp</a>&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> ret_t, <span class="keyword">typename</span> in_t&gt;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca">   34</a></span>&#160;  ret_t <a class="code" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca">convert</a>(<span class="keyword">const</span> in_t&amp; in)</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  {</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">const</span> <span class="keyword">auto</span> [x, y, z] = impl::convertFrom(in);</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    ret_t ret;</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    impl::convertTo(ret, x, y, z);</div>
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+<div class="contents">
+
+<p>Implements the convertTo() and convertFrom() functions for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).  
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+<div class="textblock"><code>#include &lt;experimental/type_traits&gt;</code><br />
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+<tr class="memitem:afe0124d8facb7f51b97db1237945825a"><td class="memTemplItemLeft" align="right" valign="top">constexpr bool&#160;</td><td class="memTemplItemRight" valign="bottom"><b>mrs_lib::impl::has_squarebracket_operator_v</b> = std::experimental::is_detected_convertible_v&lt;double, _has_squarebracket_operator_chk, T&gt;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Implements the convertTo() and convertFrom() functions for conversion between different vector representations (Eigen, OpenCV, tf2 etc.). </p>
+<dl class="section author"><dt>Author</dt><dd>Matouš Vrba - <a href="#" onclick="location.href='mai'+'lto:'+'vrb'+'am'+'ato'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">vrbam<span style="display: none;">.nosp@m.</span>ato@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
+</div><h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="aa41d8468e319f49aa2522ff4ab2353a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa41d8468e319f49aa2522ff4ab2353a0">&#9670;&nbsp;</a></span>GENERATE_HAS_MEMBER</h2>
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+<div class="memitem">
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+        <tr>
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+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">#define GENERATE_HAS_MEMBER_FUNC</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">rettype&#160;</td>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">vector_converter.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="vector__converter_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef VECTOR_CONVERTER_HPP</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define VECTOR_CONVERTER_HPP</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;experimental/type_traits&gt;</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <span class="keyword">namespace </span>impl</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  {</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keyword">using</span> unw_t = std::tuple&lt;double, double, double&gt;;</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="comment">/* SFINAE magic - only for black wizards! //{ */</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">    #define GENERATE_HAS_MEMBER_FUNC(func, rettype)                                \</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">    template&lt;class T&gt; using _has_##func##fun_chk =                                 \</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">          decltype(std::declval&lt;T &amp;&gt;().func());                                    \</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">    template&lt;class T&gt; constexpr bool has_##func##fun_v =                           \</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">          std::experimental::is_detected_convertible_v&lt;rettype, _has_##func##fun_chk, T&gt;;</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">    #define GENERATE_HAS_MEMBER(memb, type)                                        \</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">    template&lt;class T&gt; using _has_##memb##mem_chk =                                 \</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">          decltype(std::declval&lt;T &amp;&gt;().memb);                                      \</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">    template&lt;class T&gt; constexpr bool has_##memb##mem_v =                           \</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">          std::experimental::is_detected_convertible_v&lt;type, _has_##memb##mem_chk, T&gt;;</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    GENERATE_HAS_MEMBER_FUNC(x, <span class="keywordtype">double</span>)</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    GENERATE_HAS_MEMBER(x, <span class="keywordtype">double</span>)</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; <span class="keyword">using</span> _has_squarebracket_operator_chk = decltype(std::declval&lt;T &amp;&gt;()[0]);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; constexpr <span class="keywordtype">bool</span> has_squarebracket_operator_v = std::experimental::is_detected_convertible_v&lt;double, _has_squarebracket_operator_chk, T&gt;;</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; constexpr <span class="keywordtype">bool</span> has_xyz_constructor_v = std::experimental::is_constructible_v&lt;T, double, double, double&gt;;</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="comment">//}</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="comment">// convertFrom specialization for Eigen types</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> in_t&gt;</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    std::enable_if_t&lt;has_xfun_v&lt;in_t&gt;, unw_t&gt; convertFrom(<span class="keyword">const</span> in_t&amp; in)</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    {</div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keywordflow">return</span> {in.x(), in.y(), in.z()};</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    }</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">// convertFrom specialization for plain member types</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> in_t&gt;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    std::enable_if_t&lt;has_xmem_v&lt;in_t&gt;, unw_t&gt; convertFrom(<span class="keyword">const</span> in_t&amp; in)</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    {</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keywordflow">return</span> {in.x, in.y, in.z};</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    }</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">// convertFrom specialization for OpenCV vectors</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> in_t&gt;</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    std::enable_if_t&lt;has_squarebracket_operator_v&lt;in_t&gt; &amp;&amp; !has_xfun_v&lt;in_t&gt;, unw_t&gt; convertFrom(<span class="keyword">const</span> in_t&amp; in)</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordflow">return</span> {in[0], in[1], in[2]};</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    }</div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">// convertTo specialization for types with a constructor that takes three doubles</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> ret_t&gt;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    std::enable_if_t&lt;has_xyz_constructor_v&lt;ret_t&gt;, <span class="keywordtype">void</span>&gt; convertTo(ret_t&amp; out, <span class="keyword">const</span> <span class="keywordtype">double</span> x, <span class="keyword">const</span> <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">double</span> z)</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      out = {x, y, z};</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// convertTo specialization for other types</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> ret_t&gt;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    std::enable_if_t&lt;!has_xyz_constructor_v&lt;ret_t&gt; &amp;&amp; has_xmem_v&lt;ret_t&gt;, <span class="keywordtype">void</span>&gt; convertTo(ret_t&amp; out, <span class="keyword">const</span> <span class="keywordtype">double</span> x, <span class="keyword">const</span> <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">double</span> z)</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    {</div>
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+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> ret_t&gt;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    ret_t convertTo(<span class="keyword">const</span> <span class="keywordtype">double</span> x, <span class="keyword">const</span> <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">double</span> z)</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      ret_t ret;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      convertTo(ret, x, y, z);</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordflow">return</span> ret;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    }</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }  <span class="comment">// namespace impl</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#endif // VECTOR_CONVERTER_HPP</span></div>
+</div><!-- fragment --></div><!-- contents -->
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+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+   <div id="projectbrief">Various reusable classes, functions and utilities for use in MRS projects</div>
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+/* @license-end */
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+<div id="doc-content">
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+<div id="MSearchSelectWindow"
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+<div class="header">
+  <div class="headertitle">
+<div class="title">vector_converter_types.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Include necessary files for the vector types here</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Vector3.h&gt;</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;opencv2/imgproc/imgproc.hpp&gt;</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Add the types for which you want the conversion to be instantiated to this list</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define VC_TYPE_LIST Eigen::Vector3d, Eigen::Vector3f, cv::Vec3d, cv::Vec3f, geometry_msgs::Vector3, pcl::PointXYZ</span></div>
+</div><!-- fragment --></div><!-- contents -->
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+<!-- start footer part -->
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+<div class="title">vector_converter/example.cpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This is an example of usage of the <a class="el" href="namespacemrs__lib.html#a66ab536759b8cab264138c098008c9ca" title="Converts between different vector representations.">convert()</a> function for conversion between different vector types. It may be run after building <em><a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a></em> by executing <code>rosrun <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> vector_converter_example</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">// clang: MatousFormat</span></div>
+<div class="line"><span class="comment"></span><span class="preprocessor">#include &lt;geometry_msgs/Vector3.h&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;pcl/point_types.h&gt;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">/* Demonstration of usage for custom incompatible types. //{ */</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// What if we want to convert from/to a different type, which doesn&#39;t provide either operator[], nor x(), y() and z() getter/setter methods, nor x, y and z-named members?</span></div>
+<div class="line"><span class="keyword">struct </span><a name="_a0"></a><a class="code" href="structMyPoint.html">MyPoint</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keywordtype">double</span> e1, e2, e3;</div>
+<div class="line">};</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// We need to define our own specialization of the mrs_lib::impl::convertFrom() and mrs_lib::impl::convertTo() functions for this type. convert() will then work automatically.</span></div>
+<div class="line"><span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line">{</div>
+<div class="line">  <span class="keyword">namespace </span>impl</div>
+<div class="line">  {</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// convertFrom specialization for MyPoint (mrs_lib::impl::unw_t is just a shorthand for std::tuple&lt;double, double, double&gt;)</span></div>
+<div class="line">    std::tuple&lt;double, double, double&gt; convertFrom(<span class="keyword">const</span> <a class="code" href="structMyPoint.html">MyPoint</a>&amp; in)</div>
+<div class="line">    {</div>
+<div class="line">      <span class="keywordflow">return</span> {in.<a name="a1"></a>e1, in.<a name="a2"></a>e2, in.<a name="a3"></a>e3};</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// convertTo specialization for MyPoint</span></div>
+<div class="line">    <span class="keywordtype">void</span> convertTo(<a class="code" href="structMyPoint.html">MyPoint</a>&amp; ret, <span class="keyword">const</span> <span class="keywordtype">double</span> x, <span class="keyword">const</span> <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">double</span> z)</div>
+<div class="line">    {</div>
+<div class="line">      ret.e1 = x;</div>
+<div class="line">      ret.e2 = y;</div>
+<div class="line">      ret.e3 = z;</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  }</div>
+<div class="line">}</div>
+<div class="line"> </div>
+<div class="line"><span class="comment">//}</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// Include the vector_converter.h header (this has to be included *after* defining functions for your custom types)</span></div>
+<div class="line"><span class="preprocessor">#pragma GCC diagnostic push</span></div>
+<div class="line"><span class="preprocessor">#pragma GCC diagnostic ignored &quot;-Wnarrowing&quot;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;<a class="code" href="vector__converter_8h.html">mrs_lib/vector_converter.h</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#pragma GCC diagnostic pop</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keywordtype">int</span> main()</div>
+<div class="line">{</div>
+<div class="line">  <span class="comment">// prepare a source variable `from` with the type, which we&#39;ll want to convert</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keywordtype">double</span> xo = rand(), yo = rand(), zo = rand();</div>
+<div class="line">  <span class="comment">// the mrs_lib::impl::convertTo() function is used as a shortcut for initialization of the object</span></div>
+<div class="line">  <span class="comment">// Note, then when converting to a single precision floating type,</span></div>
+<div class="line">  <span class="comment">// the compiler will emit a narrowing conversion waring. This can be disabled using the pragma statements</span></div>
+<div class="line">  <span class="comment">// around the line `#include &lt;mrs_lib/vector_converter.h&gt;` (see above).</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> from = mrs_lib::impl::convertTo&lt;pcl::PointXYZ&gt;(xo, yo, zo);</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// This is the main functionality - one-liner for converting between two vector types.</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> to = mrs_lib::convert&lt;Eigen::Vector3d&gt;(from);</div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> to2 = mrs_lib::convert&lt;geometry_msgs::Vector3&gt;(to);</div>
+<div class="line"> </div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;Converted from type &quot;</span> &lt;&lt; <span class="keyword">typeid</span>(decltype(from)).name() &lt;&lt; <span class="stringliteral">&quot; with value:&quot;</span> &lt;&lt; std::endl &lt;&lt; from &lt;&lt; std::endl;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;            to type &quot;</span> &lt;&lt; <span class="keyword">typeid</span>(decltype(to)).name() &lt;&lt; <span class="stringliteral">&quot; with value:&quot;</span> &lt;&lt; std::endl &lt;&lt; to &lt;&lt; std::endl &lt;&lt; std::endl;</div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;   and then to type &quot;</span> &lt;&lt; <span class="keyword">typeid</span>(decltype(to2)).name() &lt;&lt; <span class="stringliteral">&quot; with value:&quot;</span> &lt;&lt; std::endl &lt;&lt; to2 &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// Even for custom types with compatible API, the convert() function will work (thanks to templates)</span></div>
+<div class="line">  <span class="keyword">struct </span>MyPointOK</div>
+<div class="line">  {</div>
+<div class="line">    <span class="keywordtype">double</span> x, y, z;</div>
+<div class="line">  };</div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> custom1 = mrs_lib::convert&lt;MyPointOK&gt;(from); <span class="comment">// works</span></div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;    and to new type &quot;</span> &lt;&lt; <span class="keyword">typeid</span>(decltype(custom1)).name() &lt;&lt; <span class="stringliteral">&quot; with value:&quot;</span> &lt;&lt; std::endl &lt;&lt; custom1.x &lt;&lt; std::endl &lt;&lt; custom1.y &lt;&lt; std::endl &lt;&lt; custom1.z &lt;&lt; std::endl &lt;&lt; std::endl;</div>
+<div class="line"> </div>
+<div class="line">  <span class="comment">// However, for custom types with incompatible API, the convertFrom() and convertTo() functions have to be manually implemented for convert() to work (take a look before main()):</span></div>
+<div class="line">  <span class="keyword">const</span> <span class="keyword">auto</span> custom2 = mrs_lib::convert&lt;MyPoint&gt;(from); <span class="comment">// now also works</span></div>
+<div class="line">  std::cout &lt;&lt; <span class="stringliteral">&quot;    and to new type &quot;</span> &lt;&lt; <span class="keyword">typeid</span>(decltype(custom2)).name() &lt;&lt; <span class="stringliteral">&quot; with value:&quot;</span> &lt;&lt; std::endl &lt;&lt; custom2.e1 &lt;&lt; std::endl &lt;&lt; custom2.e2 &lt;&lt; std::endl &lt;&lt; custom2.e3 &lt;&lt; std::endl &lt;&lt; std::endl;</div>
+<div class="line">}</div>
+<div class="line"> </div>
+</div><!-- fragment --> </div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="avector__converter_8h_html"><div class="ttname"><a href="vector__converter_8h.html">vector_converter.h</a></div><div class="ttdoc">Defines the convert() function for conversion between different vector representations (Eigen,...</div></div>
+<div class="ttc" id="astructMyPoint_html"><div class="ttname"><a href="structMyPoint.html">MyPoint</a></div><div class="ttdef"><b>Definition:</b> example.cpp:24</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
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+<a href="#nested-classes">Classes</a> &#124;
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+<div class="title">visual_object.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Object abstraction for the Batch Visualizer.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;Eigen/Core&gt;</code><br />
+<code>#include &lt;ros/time.h&gt;</code><br />
+<code>#include &lt;std_msgs/ColorRGBA.h&gt;</code><br />
+<code>#include &lt;geometry_msgs/Point.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="shapes_8h_source.html">mrs_lib/geometry/shapes.h</a>&gt;</code><br />
+<code>#include &lt;mrs_msgs/TrajectoryReference.h&gt;</code><br />
+</div><div class="textblock"><div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
+  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> Include dependency graph for visual_object.h:</div>
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+<div class="center"><img src="visual__object_8h__incl.png" border="0" usemap="#include_2mrs__lib_2visual__object_8h" alt=""/></div>
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+<p><a href="visual__object_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
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+Namespaces</h2></td></tr>
+<tr class="memitem:namespacemrs__lib"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrs__lib.html">mrs_lib</a></td></tr>
+<tr class="memdesc:namespacemrs__lib"><td class="mdescLeft">&#160;</td><td class="mdescRight">All <a class="el" href="namespacemrs__lib.html" title="All mrs_lib functions, classes, variables and definitions are contained in this namespace.">mrs_lib</a> functions, classes, variables and definitions are contained in this namespace. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:a51b7645de121a21302986b8fa7ff2759"><td class="memItemLeft" align="right" valign="top"><a id="a51b7645de121a21302986b8fa7ff2759"></a>
+#define&#160;</td><td class="memItemRight" valign="bottom"><b>DEFAULT_ELLIPSE_POINTS</b>&#160;&#160;&#160;64</td></tr>
+<tr class="separator:a51b7645de121a21302986b8fa7ff2759"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
+Enumerations</h2></td></tr>
+<tr class="memitem:a76c3f6cd3ae9c808511ffe4d2a3d799f"><td class="memItemLeft" align="right" valign="top"><a id="a76c3f6cd3ae9c808511ffe4d2a3d799f"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>MarkerType</b> { <b>POINT</b> = 0, 
+<b>LINE</b> = 1, 
+<b>TRIANGLE</b> = 2
+ }</td></tr>
+<tr class="separator:a76c3f6cd3ae9c808511ffe4d2a3d799f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Object abstraction for the Batch Visualizer. </p>
+<dl class="section author"><dt>Author</dt><dd>Petr Štibinger - <a href="#" onclick="location.href='mai'+'lto:'+'sti'+'bi'+'pet'+'@f'+'el.'+'cv'+'ut.'+'cz'; return false;">stibi<span style="display: none;">.nosp@m.</span>pet@<span style="display: none;">.nosp@m.</span>fel.c<span style="display: none;">.nosp@m.</span>vut.<span style="display: none;">.nosp@m.</span>cz</a> </dd></dl>
+</div></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_b51f180547f8d0f0e77de7f16caceac3.html">mrs_lib</a></li><li class="navelem"><a class="el" href="visual__object_8h.html">visual_object.h</a></li>
+    <li class="footer">Generated by
+    <a href="http://www.doxygen.org/index.html">
+    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/visual__object_8h.js b/visual__object_8h.js
new file mode 100644
index 00000000..2fad00e8
--- /dev/null
+++ b/visual__object_8h.js
@@ -0,0 +1,10 @@
+var visual__object_8h =
+[
+    [ "VisualObject", "classmrs__lib_1_1VisualObject.html", "classmrs__lib_1_1VisualObject" ],
+    [ "DEFAULT_ELLIPSE_POINTS", "visual__object_8h.html#a51b7645de121a21302986b8fa7ff2759", null ],
+    [ "MarkerType", "visual__object_8h.html#a76c3f6cd3ae9c808511ffe4d2a3d799f", [
+      [ "POINT", "visual__object_8h.html#a76c3f6cd3ae9c808511ffe4d2a3d799faf4a7505a8b840856e361a9852997d8c6", null ],
+      [ "LINE", "visual__object_8h.html#a76c3f6cd3ae9c808511ffe4d2a3d799fa1d6aa4216fb97d4aef252473bed38425", null ],
+      [ "TRIANGLE", "visual__object_8h.html#a76c3f6cd3ae9c808511ffe4d2a3d799fabd23f5af6c16dfdb2f098be0be10264a", null ]
+    ] ]
+];
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new file mode 100644
index 00000000..e639f217
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+<div class="title">visual_object.h</div>  </div>
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+<div class="contents">
+<a href="visual__object_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef BATCH_VISUALIZER__VISUAL_OBJECT_H</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define BATCH_VISUALIZER__VISUAL_OBJECT_H</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;Eigen/Core&gt;</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;ros/time.h&gt;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;std_msgs/ColorRGBA.h&gt;</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Point.h&gt;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="shapes_8h.html">mrs_lib/geometry/shapes.h</a>&gt;</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;mrs_msgs/TrajectoryReference.h&gt;</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#define DEFAULT_ELLIPSE_POINTS 64</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacemrs__lib.html">mrs_lib</a></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">enum</span> MarkerType</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  POINT    = 0,</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  LINE     = 1,</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  TRIANGLE = 2</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;};</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classmrs__lib_1_1VisualObject.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a> {</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> Eigen::Vector3d&amp; point, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a>&amp; ray, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a>&amp; triangle, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a>&amp; rectangle, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a>&amp; cuboid, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a>&amp; ellipse, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> num_points = DEFAULT_ELLIPSE_POINTS);</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a>&amp; cylinder, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">bool</span> capped, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> num_sides = DEFAULT_ELLIPSE_POINTS);</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a>&amp; cone, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">bool</span> capped, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">int</span> num_sides = DEFAULT_ELLIPSE_POINTS);</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>(<span class="keyword">const</span> mrs_msgs::TrajectoryReference&amp; traj, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> ros::Duration&amp; timeout,</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;               <span class="keyword">const</span> <span class="keywordtype">bool</span> filled, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>&amp; <span class="keywordtype">id</span>);</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getID() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">int</span>           getType() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">bool</span>          isTimedOut() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">const</span> std::vector&lt;geometry_msgs::Point&gt; getPoints() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">const</span> std::vector&lt;std_msgs::ColorRGBA&gt;  getColors() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">bool</span> operator&lt;(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>&amp; other)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span> id_ &lt; other.id_;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">bool</span> operator&gt;(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>&amp; other)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> id_ &gt; other.id_;</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1VisualObject.html">VisualObject</a>&amp; other)<span class="keyword"> const </span>{</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> id_ == other.id_;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>               id_;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  MarkerType                        type_;</div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  std::vector&lt;geometry_msgs::Point&gt; points_;</div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  std::vector&lt;std_msgs::ColorRGBA&gt;  colors_;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  ros::Time                         timeout_time_;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">void</span> addRay(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a>&amp; ray, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a);</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">void</span> addTriangle(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a>&amp; triangle, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> <span class="keywordtype">bool</span> filled);</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">void</span> addEllipse(<span class="keyword">const</span> <a class="code" href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a>&amp; ellipse, <span class="keyword">const</span> <span class="keywordtype">double</span> r, <span class="keyword">const</span> <span class="keywordtype">double</span> g, <span class="keyword">const</span> <span class="keywordtype">double</span> b, <span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> <span class="keywordtype">bool</span> filled,</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">int</span> num_points);</div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;};  <span class="comment">// namespace batch_visualizer</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}  <span class="comment">// namespace mrs_lib</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ray_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ray.html">mrs_lib::geometry::Ray</a></div><div class="ttdoc">geometric representation of a ray. Instantiate it by two input Vector3. Use static methods for from-t...</div><div class="ttdef"><b>Definition:</b> shapes.h:24</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cuboid_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cuboid.html">mrs_lib::geometry::Cuboid</a></div><div class="ttdoc">geometric representation of a cuboid</div><div class="ttdef"><b>Definition:</b> shapes.h:317</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Ellipse_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Ellipse.html">mrs_lib::geometry::Ellipse</a></div><div class="ttdoc">geometric representation of an ellipse</div><div class="ttdef"><b>Definition:</b> shapes.h:426</div></div>
+<div class="ttc" id="anamespacemrs__lib_html"><div class="ttname"><a href="namespacemrs__lib.html">mrs_lib</a></div><div class="ttdoc">All mrs_lib functions, classes, variables and definitions are contained in this namespace.</div><div class="ttdef"><b>Definition:</b> attitude_converter.h:29</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Rectangle_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Rectangle.html">mrs_lib::geometry::Rectangle</a></div><div class="ttdoc">geometric representation of a rectangle (can represent any quadrilateral)</div><div class="ttdef"><b>Definition:</b> shapes.h:187</div></div>
+<div class="ttc" id="ashapes_8h_html"><div class="ttname"><a href="shapes_8h.html">shapes.h</a></div><div class="ttdoc">Defines various geometrical shapes and their relations.</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Triangle_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Triangle.html">mrs_lib::geometry::Triangle</a></div><div class="ttdoc">geometric representation of a triangle. Instantiate a new triangle by providing three vertices</div><div class="ttdef"><b>Definition:</b> shapes.h:98</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cylinder_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cylinder.html">mrs_lib::geometry::Cylinder</a></div><div class="ttdoc">geometric representation of a cylinder</div><div class="ttdef"><b>Definition:</b> shapes.h:490</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1VisualObject_html"><div class="ttname"><a href="classmrs__lib_1_1VisualObject.html">mrs_lib::VisualObject</a></div><div class="ttdef"><b>Definition:</b> visual_object.h:28</div></div>
+<div class="ttc" id="aclassmrs__lib_1_1geometry_1_1Cone_html"><div class="ttname"><a href="classmrs__lib_1_1geometry_1_1Cone.html">mrs_lib::geometry::Cone</a></div><div class="ttdoc">geometric representaiton of a cone</div><div class="ttdef"><b>Definition:</b> shapes.h:573</div></div>
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