From 741d7c266ee39f2d7ca19faf16722af65cb10577 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 30 Sep 2024 16:58:25 +0000
Subject: [PATCH] Update documentation

Triggered by commit 5c0a7809f9834a25d777bb7bf1bf63e2ea3e92c9.

Co-authored-by: hidmic <hidmic@users.noreply.github.com>
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diff --git a/concepts/design-principles.html b/concepts/design-principles.html
index c24fced92..429d478fb 100644
--- a/concepts/design-principles.html
+++ b/concepts/design-principles.html
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-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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@@ -518,7 +518,7 @@ <h3>Memory aware<a class="headerlink" href="#memory-aware" title="Link to this h
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/concepts/key-concepts.html b/concepts/key-concepts.html
index 8d57051a8..cde59a815 100644
--- a/concepts/key-concepts.html
+++ b/concepts/key-concepts.html
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-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/genindex.html b/genindex.html
index eb80ec9f7..d9f4358b7 100644
--- a/genindex.html
+++ b/genindex.html
@@ -53,7 +53,7 @@
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-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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@@ -383,7 +383,7 @@ <h1 id="index">Index</h1>
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/getting-started/installation.html b/getting-started/installation.html
index bca8479d4..33f520bf2 100644
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+++ b/getting-started/installation.html
@@ -56,7 +56,7 @@
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-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/getting-started/quickstart.html b/getting-started/quickstart.html
index a345d8ffc..87c6d03ee 100644
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@@ -56,7 +56,7 @@
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-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
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   <div class="footer-item">
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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index 965283d21..260455baf 100644
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+++ b/guides/benchmarking-beluga.html
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-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
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   <div class="footer-item">
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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index 98f4d9d00..50784080e 100644
--- a/guides/extending-beluga.html
+++ b/guides/extending-beluga.html
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   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
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@@ -448,7 +448,7 @@ <h1>Extending Beluga<a class="headerlink" href="#extending-beluga" title="Link t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/guides/profiling-beluga.html b/guides/profiling-beluga.html
index fec2d9e5f..84757009a 100644
--- a/guides/profiling-beluga.html
+++ b/guides/profiling-beluga.html
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   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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@@ -448,7 +448,7 @@ <h1>Profiling Beluga<a class="headerlink" href="#profiling-beluga" title="Link t
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/guides/using-beluga-amcl.html b/guides/using-beluga-amcl.html
index 41757d777..61ae774b4 100644
--- a/guides/using-beluga-amcl.html
+++ b/guides/using-beluga-amcl.html
@@ -56,7 +56,7 @@
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   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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@@ -448,7 +448,7 @@ <h1>Using Beluga AMCL on an AMR<a class="headerlink" href="#using-beluga-amcl-on
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/index.html b/index.html
index 7281da009..295dd6897 100644
--- a/index.html
+++ b/index.html
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   <div class="footer-item">
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/3d__embedding_8hpp_source.html b/packages/beluga/docs/_doxygen/generated/reference/html/3d__embedding_8hpp_source.html
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@@ -54,7 +54,7 @@
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   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;"/>
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   <div class="footer-item">
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/DenseGrid2Page.html b/packages/beluga/docs/_doxygen/generated/reference/html/DenseGrid2Page.html
index ceb12e2b9..1b460528b 100644
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+++ b/packages/beluga/docs/_doxygen/generated/reference/html/DenseGrid2Page.html
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   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/LaserScanPage.html b/packages/beluga/docs/_doxygen/generated/reference/html/LaserScanPage.html
index 98b1b848f..5366e6a67 100644
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@@ -54,7 +54,7 @@
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   <div class="footer-item">
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   <div class="footer-item">
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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+++ b/packages/beluga/docs/_doxygen/generated/reference/html/MotionModelPage.html
@@ -54,7 +54,7 @@
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   <div class="footer-item">
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/OccupancyGrid2Page.html b/packages/beluga/docs/_doxygen/generated/reference/html/OccupancyGrid2Page.html
index 1cdd3fbf9..de721c4e1 100644
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+++ b/packages/beluga/docs/_doxygen/generated/reference/html/OccupancyGrid2Page.html
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/ParticlePage.html b/packages/beluga/docs/_doxygen/generated/reference/html/ParticlePage.html
index a96068576..e64cfa85e 100644
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+++ b/packages/beluga/docs/_doxygen/generated/reference/html/ParticlePage.html
@@ -54,7 +54,7 @@
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   <div class="footer-item">
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/RandomStateDistributionPage.html b/packages/beluga/docs/_doxygen/generated/reference/html/RandomStateDistributionPage.html
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   <div class="footer-item">
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/RegularGridPage.html b/packages/beluga/docs/_doxygen/generated/reference/html/RegularGridPage.html
index 20b11164d..a29a7d2a0 100644
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   <div class="footer-item">
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diff --git a/packages/beluga/docs/_doxygen/generated/reference/html/SensorModelPage.html b/packages/beluga/docs/_doxygen/generated/reference/html/SensorModelPage.html
index ac543695a..1f999872c 100644
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@@ -54,7 +54,7 @@
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html">beluga_amcl::AmclNode</a></div><div class="ttdoc">2D AMCL as a ROS 2 composable lifecycle node.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:53</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a2bd80dc9ed5df3f451d8cd4814e1baf6"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a2bd80dc9ed5df3f451d8cd4814e1baf6">beluga_amcl::AmclNode::last_known_odom_transform_in_map_</a></div><div class="ttdeci">std::optional&lt; Sophus::SE2d &gt; last_known_odom_transform_in_map_</div><div class="ttdoc">Last known map to odom correction estimate, if any.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:150</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a2ef9a29925a5290aa453099ea2857fc7"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a2ef9a29925a5290aa453099ea2857fc7">beluga_amcl::AmclNode::global_localization_callback</a></div><div class="ttdeci">void global_localization_callback(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; request, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; response)</div><div class="ttdoc">Callback for the global relocalization service.</div></div>
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 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a30ecd1b1d256ff9c6f4d9c4744dd5efd"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a30ecd1b1d256ff9c6f4d9c4744dd5efd">beluga_amcl::AmclNode::get_initial_estimate</a></div><div class="ttdeci">auto get_initial_estimate() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</div><div class="ttdoc">Get initial pose estimate from parameters if set.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a3a51f69867b3bf5ea0b3fc968419a2d7"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a3a51f69867b3bf5ea0b3fc968419a2d7">beluga_amcl::AmclNode::nomotion_update_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr nomotion_update_server_</div><div class="ttdoc">No motion update service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:134</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a4d534a1787ef7a38bb64b1e1037cbc2c"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a4d534a1787ef7a38bb64b1e1037cbc2c">beluga_amcl::AmclNode::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:129</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a3a51f69867b3bf5ea0b3fc968419a2d7"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a3a51f69867b3bf5ea0b3fc968419a2d7">beluga_amcl::AmclNode::nomotion_update_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr nomotion_update_server_</div><div class="ttdoc">No motion update service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:138</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a4d534a1787ef7a38bb64b1e1037cbc2c"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a4d534a1787ef7a38bb64b1e1037cbc2c">beluga_amcl::AmclNode::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:133</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a514d3cfe13659402c77fd841138898f3"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a514d3cfe13659402c77fd841138898f3">beluga_amcl::AmclNode::nomotion_update_callback</a></div><div class="ttdeci">void nomotion_update_callback(std::shared_ptr&lt; rmw_request_id_t &gt; request_header, std::shared_ptr&lt; std_srvs::srv::Empty::Request &gt; req, std::shared_ptr&lt; std_srvs::srv::Empty::Response &gt; res)</div><div class="ttdoc">Callback for the no motion update service.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a5c9153d4a6b0349d229b05a4a18a9258"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a5c9153d4a6b0349d229b05a4a18a9258">beluga_amcl::AmclNode::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; beluga_ros::Amcl &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:142</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a5c9153d4a6b0349d229b05a4a18a9258"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a5c9153d4a6b0349d229b05a4a18a9258">beluga_amcl::AmclNode::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; beluga_ros::Amcl &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:146</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a6a76a936aa8a1acb921fd503aca7c3d6"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a6a76a936aa8a1acb921fd503aca7c3d6">beluga_amcl::AmclNode::do_activate</a></div><div class="ttdeci">void do_activate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.</div></div>
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-<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a853dd327e1766ac57568b5c34d69ed13"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a853dd327e1766ac57568b5c34d69ed13">beluga_amcl::AmclNode::map_sub_</a></div><div class="ttdeci">rclcpp::Subscription&lt; nav_msgs::msg::OccupancyGrid &gt;::SharedPtr map_sub_</div><div class="ttdoc">Occupancy grid map updates subscription.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:126</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_a7f93438aafd52c5d29229953eb6e0852"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#a7f93438aafd52c5d29229953eb6e0852">beluga_amcl::AmclNode::global_localization_server_</a></div><div class="ttdeci">rclcpp::Service&lt; std_srvs::srv::Empty &gt;::SharedPtr global_localization_server_</div><div class="ttdoc">Global relocalization service server.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:136</div></div>
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 <div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_aefde4c57c11bb69157c996b7d6f9daa3"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#aefde4c57c11bb69157c996b7d6f9daa3">beluga_amcl::AmclNode::get_sensor_model</a></div><div class="ttdeci">auto get_sensor_model(std::string_view, nav_msgs::msg::OccupancyGrid::SharedPtr) const -&gt; beluga_ros::Amcl::sensor_model_variant</div><div class="ttdoc">Get sensor model as per current parametrization.</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1AmclNode_html_af356a5b5195c68c741fe1aa4374c5817"><div class="ttname"><a href="classbeluga__amcl_1_1AmclNode.html#af356a5b5195c68c741fe1aa4374c5817">beluga_amcl::AmclNode::last_known_estimate_</a></div><div class="ttdeci">std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &gt; last_known_estimate_</div><div class="ttdoc">Last known pose estimate, if any.</div><div class="ttdef"><b>Definition:</b> amcl_node.hpp:148</div></div>
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   <div class="footer-item">
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
+  Last updated on &#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;.
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-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a6173e1d95bf43477b012aebcf36911e6"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a6173e1d95bf43477b012aebcf36911e6">beluga_amcl::NdtAmclNode::NdtAmclNode</a></div><div class="ttdeci">NdtAmclNode(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions{})</div><div class="ttdoc">Constructor.</div></div>
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 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_a83d92f8750f7070e65f2afffadc021ba"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#a83d92f8750f7070e65f2afffadc021ba">beluga_amcl::NdtAmclNode::get_initial_estimate</a></div><div class="ttdeci">auto get_initial_estimate() const -&gt; std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt;&gt;</div><div class="ttdoc">Get initial pose estimate from parameters if set.</div></div>
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-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_aadc883734bf305bb6d5f4b91241166d2"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#aadc883734bf305bb6d5f4b91241166d2">beluga_amcl::NdtAmclNode::last_known_estimate_</a></div><div class="ttdeci">std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &gt; last_known_estimate_</div><div class="ttdoc">Last known pose estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:159</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_ac84bc73e5ebb64ac5b64cb9431fa5de0"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#ac84bc73e5ebb64ac5b64cb9431fa5de0">beluga_amcl::NdtAmclNode::enable_tf_broadcast_</a></div><div class="ttdeci">bool enable_tf_broadcast_</div><div class="ttdoc">Whether to broadcast transforms or not.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:163</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_aa8cb9892037fc7c07c6e18b29fc8515e"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#aa8cb9892037fc7c07c6e18b29fc8515e">beluga_amcl::NdtAmclNode::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::LaserScan, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:152</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_aadc883734bf305bb6d5f4b91241166d2"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#aadc883734bf305bb6d5f4b91241166d2">beluga_amcl::NdtAmclNode::last_known_estimate_</a></div><div class="ttdeci">std::optional&lt; std::pair&lt; Sophus::SE2d, Eigen::Matrix3d &gt; &gt; last_known_estimate_</div><div class="ttdoc">Last known pose estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:162</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_ac84bc73e5ebb64ac5b64cb9431fa5de0"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#ac84bc73e5ebb64ac5b64cb9431fa5de0">beluga_amcl::NdtAmclNode::enable_tf_broadcast_</a></div><div class="ttdeci">bool enable_tf_broadcast_</div><div class="ttdoc">Whether to broadcast transforms or not.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:166</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode_html_af92d809fd2fa8d923ec1cac8b4749d13"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode.html#af92d809fd2fa8d923ec1cac8b4749d13">beluga_amcl::NdtAmclNode::laser_scan_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::MessageFilter&lt; sensor_msgs::msg::LaserScan &gt; &gt; laser_scan_filter_</div><div class="ttdoc">Transform synchronization filter for laser scan updates.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:155</div></div>
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+<div class="ttc" id="andt__amcl__node_8hpp_html_aa6ba96a699dd60beedea43a64b5f3c2f"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#aa6ba96a699dd60beedea43a64b5f3c2f">beluga_amcl::NdtAmclVariant</a></div><div class="ttdeci">std::variant&lt; NdtAmcl&lt; beluga::StationaryModel, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::StationaryModel, std::execution::sequenced_policy &gt;, NdtAmcl&lt; beluga::DifferentialDriveModel2d, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::DifferentialDriveModel2d, std::execution::sequenced_policy &gt;, NdtAmcl&lt; beluga::OmnidirectionalDriveModel, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::OmnidirectionalDriveModel, std::execution::sequenced_policy &gt; &gt; NdtAmclVariant</div><div class="ttdoc">All combinations of supported NDT AMCL variants.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:93</div></div>
+<div class="ttc" id="andt__amcl__node_8hpp_html_abdbc8a9bd8694d5d2b63d83a43f7ca30"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#abdbc8a9bd8694d5d2b63d83a43f7ca30">beluga_amcl::RandomStateGenerator</a></div><div class="ttdeci">std::function&lt; std::function&lt; beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type()&gt;(const beluga::TupleVector&lt; std::tuple&lt; beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type, beluga::Weight &gt; &gt;)&gt; RandomStateGenerator</div><div class="ttdoc">Type of a particle-dependent random state generator.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:73</div></div>
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 <div class="ttc" id="aclassbeluga_1_1Amcl_html"><div class="ttname"><a href="../../../../../../beluga/docs/_doxygen/generated/reference/html/classbeluga_1_1Amcl.html">beluga::Amcl</a></div></div>
 <div class="ttc" id="aclassbeluga_1_1NDTSensorModel_html"><div class="ttname"><a href="../../../../../../beluga/docs/_doxygen/generated/reference/html/classbeluga_1_1NDTSensorModel.html">beluga::NDTSensorModel</a></div></div>
 <div class="ttc" id="aclassbeluga_1_1NDTSensorModel_html_adb32c32e4342f012e9a98be93bd0c018"><div class="ttname"><a href="../../../../../../beluga/docs/_doxygen/generated/reference/html/classbeluga_1_1NDTSensorModel.html#adb32c32e4342f012e9a98be93bd0c018">beluga::NDTSensorModel::state_type</a></div><div class="ttdeci">std::conditional_t&lt; ndt_cell_type::num_dim==2, Sophus::SE2&lt; typename ndt_cell_type::scalar_type &gt;, Sophus::SE3&lt; typename ndt_cell_type::scalar_type &gt; &gt; state_type</div></div>
 <div class="ttc" id="aclassbeluga_1_1SparseValueGrid_html"><div class="ttname"><a href="../../../../../../beluga/docs/_doxygen/generated/reference/html/classbeluga_1_1SparseValueGrid.html">beluga::SparseValueGrid</a></div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1BaseAMCLNode_html"><div class="ttname"><a href="classbeluga__amcl_1_1BaseAMCLNode.html">beluga_amcl::BaseAMCLNode</a></div><div class="ttdef"><b>Definition:</b> ros2_common.hpp:55</div></div>
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+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html">beluga_amcl::NdtAmclNode3D</a></div><div class="ttdoc">3D NDT AMCL as a ROS 2 composable lifecycle node.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:84</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a0b78851c4fb56d364bb9f2de249c3c31"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a0b78851c4fb56d364bb9f2de249c3c31">beluga_amcl::NdtAmclNode3D::last_known_estimate_</a></div><div class="ttdeci">std::optional&lt; std::pair&lt; Sophus::SE3d, Sophus::Matrix6d &gt; &gt; last_known_estimate_</div><div class="ttdoc">Last known pose estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:143</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a2a5b2778e0526f85804a410881f107cf"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a2a5b2778e0526f85804a410881f107cf">beluga_amcl::NdtAmclNode3D::enable_tf_broadcast_</a></div><div class="ttdeci">bool enable_tf_broadcast_</div><div class="ttdoc">Whether to broadcast transforms or not.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:147</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a4487791f4c97becabaabefdc43f7f8f1"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a4487791f4c97becabaabefdc43f7f8f1">beluga_amcl::NdtAmclNode3D::do_activate</a></div><div class="ttdeci">void do_activate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the ACTIVE state.</div></div>
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-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a5bd805a2963d186cb28ea2bfa9b01883"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a5bd805a2963d186cb28ea2bfa9b01883">beluga_amcl::NdtAmclNode3D::laser_scan_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::MessageFilter&lt; sensor_msgs::msg::PointCloud2 &gt; &gt; laser_scan_filter_</div><div class="ttdoc">Transform synchronization filter for laser scan updates.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:133</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a53952270e195a2558bebfac6220a28cd"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a53952270e195a2558bebfac6220a28cd">beluga_amcl::NdtAmclNode3D::laser_scan_sub_</a></div><div class="ttdeci">std::unique_ptr&lt; message_filters::Subscriber&lt; sensor_msgs::msg::PointCloud2, rclcpp_lifecycle::LifecycleNode &gt; &gt; laser_scan_sub_</div><div class="ttdoc">Laser scan updates subscription.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:133</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a5bd805a2963d186cb28ea2bfa9b01883"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a5bd805a2963d186cb28ea2bfa9b01883">beluga_amcl::NdtAmclNode3D::laser_scan_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; tf2_ros::MessageFilter&lt; sensor_msgs::msg::PointCloud2 &gt; &gt; laser_scan_filter_</div><div class="ttdoc">Transform synchronization filter for laser scan updates.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:136</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a848fc41f049633c3d33cbc594fa0f299"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a848fc41f049633c3d33cbc594fa0f299">beluga_amcl::NdtAmclNode3D::get_motion_model</a></div><div class="ttdeci">auto get_motion_model() const -&gt; MotionModelVariant</div><div class="ttdoc">Get motion model as per current parametrization.</div></div>
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 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a9622e984f3a63c7bc55d0ca73fd82c0e"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a9622e984f3a63c7bc55d0ca73fd82c0e">beluga_amcl::NdtAmclNode3D::do_deactivate</a></div><div class="ttdeci">void do_deactivate(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the ACTIVE state to the INACTIVE state.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a9e6457de98080183405cce40cedf270d"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a9e6457de98080183405cce40cedf270d">beluga_amcl::NdtAmclNode3D::laser_scan_connection_</a></div><div class="ttdeci">message_filters::Connection laser_scan_connection_</div><div class="ttdoc">Connection for laser scan updates filter and callback.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:135</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_a9e6457de98080183405cce40cedf270d"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#a9e6457de98080183405cce40cedf270d">beluga_amcl::NdtAmclNode3D::laser_scan_connection_</a></div><div class="ttdeci">message_filters::Connection laser_scan_connection_</div><div class="ttdoc">Connection for laser scan updates filter and callback.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:138</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_aa9597475d2ddc084da7c508ec84f8ece"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#aa9597475d2ddc084da7c508ec84f8ece">beluga_amcl::NdtAmclNode3D::get_sensor_model</a></div><div class="ttdeci">beluga::NDTSensorModel&lt; NDTMapRepresentation &gt; get_sensor_model() const</div><div class="ttdoc">Get sensor model as per current parametrization.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_aac6859100b952b8c3952acd6d9d494be"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#aac6859100b952b8c3952acd6d9d494be">beluga_amcl::NdtAmclNode3D::laser_callback</a></div><div class="ttdeci">void laser_callback(sensor_msgs::msg::PointCloud2::ConstSharedPtr)</div><div class="ttdoc">Callback for laser scan updates.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_aae7eedffffc4a44d3044dea23607a918"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#aae7eedffffc4a44d3044dea23607a918">beluga_amcl::NdtAmclNode3D::do_initial_pose_callback</a></div><div class="ttdeci">void do_initial_pose_callback(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr message) override</div><div class="ttdoc">Callback for pose (re) initialization.</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_ab085a321ab818354958837508209f6b5"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#ab085a321ab818354958837508209f6b5">beluga_amcl::NdtAmclNode3D::make_particle_filter</a></div><div class="ttdeci">auto make_particle_filter() const -&gt; std::unique_ptr&lt; NdtAmclVariant &gt;</div><div class="ttdoc">Instantiate particle filter given an initial occupancy grid map and the current parametrization.</div></div>
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 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_acd9f25ffdf96391d8ce2dcb5acb485b7"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#acd9f25ffdf96391d8ce2dcb5acb485b7">beluga_amcl::NdtAmclNode3D::do_cleanup</a></div><div class="ttdeci">void do_cleanup(const rclcpp_lifecycle::State &amp;) override</div><div class="ttdoc">Callback for lifecycle transitions from the INACTIVE state to the UNCONFIGURED state.</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_ad497bfe6d02cd778bea7bbf39df314a8"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#ad497bfe6d02cd778bea7bbf39df314a8">beluga_amcl::NdtAmclNode3D::last_known_odom_transform_in_map_</a></div><div class="ttdeci">std::optional&lt; Sophus::SE3d &gt; last_known_odom_transform_in_map_</div><div class="ttdoc">Last known map to odom correction estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:142</div></div>
-<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_aeab8ac0dd6f94e4e6e31f9ceafce6239"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#aeab8ac0dd6f94e4e6e31f9ceafce6239">beluga_amcl::NdtAmclNode3D::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; NdtAmclVariant &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:138</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_ad497bfe6d02cd778bea7bbf39df314a8"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#ad497bfe6d02cd778bea7bbf39df314a8">beluga_amcl::NdtAmclNode3D::last_known_odom_transform_in_map_</a></div><div class="ttdeci">std::optional&lt; Sophus::SE3d &gt; last_known_odom_transform_in_map_</div><div class="ttdoc">Last known map to odom correction estimate, if any.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:145</div></div>
+<div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_aeab8ac0dd6f94e4e6e31f9ceafce6239"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#aeab8ac0dd6f94e4e6e31f9ceafce6239">beluga_amcl::NdtAmclNode3D::particle_filter_</a></div><div class="ttdeci">std::unique_ptr&lt; NdtAmclVariant &gt; particle_filter_</div><div class="ttdoc">Particle filter instance.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:141</div></div>
 <div class="ttc" id="aclassbeluga__amcl_1_1NdtAmclNode3D_html_afd319c10a142c76c708301d42874f7b6"><div class="ttname"><a href="classbeluga__amcl_1_1NdtAmclNode3D.html#afd319c10a142c76c708301d42874f7b6">beluga_amcl::NdtAmclNode3D::do_periodic_timer_callback</a></div><div class="ttdeci">void do_periodic_timer_callback() override</div><div class="ttdoc">Callback for periodic particle cloud updates.</div></div>
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-<div class="ttc" id="andt__amcl__node_8hpp_html_a35debd9cd28f41707bb122dc6f27736d"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#a35debd9cd28f41707bb122dc6f27736d">beluga_amcl::MotionModelVariant</a></div><div class="ttdeci">std::variant&lt; beluga::DifferentialDriveModel2d, beluga::StationaryModel, beluga::OmnidirectionalDriveModel &gt; MotionModelVariant</div><div class="ttdoc">Supported motion models.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:94</div></div>
-<div class="ttc" id="andt__amcl__node_8hpp_html_a82dbb2d02fdc9998c479c6d5b3948283"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#a82dbb2d02fdc9998c479c6d5b3948283">beluga_amcl::NDTMapRepresentation</a></div><div class="ttdeci">beluga::SparseValueGrid2&lt; std::unordered_map&lt; Eigen::Vector2i, beluga::NDTCell2d, beluga::detail::CellHasher&lt; 2 &gt; &gt;&gt; NDTMapRepresentation</div><div class="ttdoc">Underlying map representation for the NDT sensor model.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:66</div></div>
-<div class="ttc" id="andt__amcl__node_8hpp_html_aa6ba96a699dd60beedea43a64b5f3c2f"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#aa6ba96a699dd60beedea43a64b5f3c2f">beluga_amcl::NdtAmclVariant</a></div><div class="ttdeci">std::variant&lt; NdtAmcl&lt; beluga::StationaryModel, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::StationaryModel, std::execution::sequenced_policy &gt;, NdtAmcl&lt; beluga::DifferentialDriveModel2d, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::DifferentialDriveModel2d, std::execution::sequenced_policy &gt;, NdtAmcl&lt; beluga::OmnidirectionalDriveModel, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::OmnidirectionalDriveModel, std::execution::sequenced_policy &gt; &gt; NdtAmclVariant</div><div class="ttdoc">All combinations of supported NDT AMCL variants.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:90</div></div>
-<div class="ttc" id="andt__amcl__node_8hpp_html_abdbc8a9bd8694d5d2b63d83a43f7ca30"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#abdbc8a9bd8694d5d2b63d83a43f7ca30">beluga_amcl::RandomStateGenerator</a></div><div class="ttdeci">std::function&lt; std::function&lt; beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type()&gt;(const beluga::TupleVector&lt; std::tuple&lt; beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type, beluga::Weight &gt; &gt;)&gt; RandomStateGenerator</div><div class="ttdoc">Type of a particle-dependent random state generator.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:70</div></div>
-<div class="ttc" id="andt__amcl__node__3d_8hpp_html_aeacd155c7f9687b6d5ff814f09714e58"><div class="ttname"><a href="ndt__amcl__node__3d_8hpp.html#aeacd155c7f9687b6d5ff814f09714e58">beluga_amcl::StateType</a></div><div class="ttdeci">typename beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type StateType</div><div class="ttdoc">State type for the particles.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:57</div></div>
+<div class="ttc" id="andt__amcl__node_8hpp_html_a35debd9cd28f41707bb122dc6f27736d"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#a35debd9cd28f41707bb122dc6f27736d">beluga_amcl::MotionModelVariant</a></div><div class="ttdeci">std::variant&lt; beluga::DifferentialDriveModel2d, beluga::StationaryModel, beluga::OmnidirectionalDriveModel &gt; MotionModelVariant</div><div class="ttdoc">Supported motion models.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:97</div></div>
+<div class="ttc" id="andt__amcl__node_8hpp_html_a82dbb2d02fdc9998c479c6d5b3948283"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#a82dbb2d02fdc9998c479c6d5b3948283">beluga_amcl::NDTMapRepresentation</a></div><div class="ttdeci">beluga::SparseValueGrid2&lt; std::unordered_map&lt; Eigen::Vector2i, beluga::NDTCell2d, beluga::detail::CellHasher&lt; 2 &gt; &gt;&gt; NDTMapRepresentation</div><div class="ttdoc">Underlying map representation for the NDT sensor model.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:69</div></div>
+<div class="ttc" id="andt__amcl__node_8hpp_html_aa6ba96a699dd60beedea43a64b5f3c2f"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#aa6ba96a699dd60beedea43a64b5f3c2f">beluga_amcl::NdtAmclVariant</a></div><div class="ttdeci">std::variant&lt; NdtAmcl&lt; beluga::StationaryModel, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::StationaryModel, std::execution::sequenced_policy &gt;, NdtAmcl&lt; beluga::DifferentialDriveModel2d, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::DifferentialDriveModel2d, std::execution::sequenced_policy &gt;, NdtAmcl&lt; beluga::OmnidirectionalDriveModel, std::execution::parallel_policy &gt;, NdtAmcl&lt; beluga::OmnidirectionalDriveModel, std::execution::sequenced_policy &gt; &gt; NdtAmclVariant</div><div class="ttdoc">All combinations of supported NDT AMCL variants.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:93</div></div>
+<div class="ttc" id="andt__amcl__node_8hpp_html_abdbc8a9bd8694d5d2b63d83a43f7ca30"><div class="ttname"><a href="ndt__amcl__node_8hpp.html#abdbc8a9bd8694d5d2b63d83a43f7ca30">beluga_amcl::RandomStateGenerator</a></div><div class="ttdeci">std::function&lt; std::function&lt; beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type()&gt;(const beluga::TupleVector&lt; std::tuple&lt; beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type, beluga::Weight &gt; &gt;)&gt; RandomStateGenerator</div><div class="ttdoc">Type of a particle-dependent random state generator.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node.hpp:73</div></div>
+<div class="ttc" id="andt__amcl__node__3d_8hpp_html_aeacd155c7f9687b6d5ff814f09714e58"><div class="ttname"><a href="ndt__amcl__node__3d_8hpp.html#aeacd155c7f9687b6d5ff814f09714e58">beluga_amcl::StateType</a></div><div class="ttdeci">typename beluga::NDTSensorModel&lt; NDTMapRepresentation &gt;::state_type StateType</div><div class="ttdoc">State type for the particles.</div><div class="ttdef"><b>Definition:</b> ndt_amcl_node_3d.hpp:60</div></div>
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 <!-- start footer part -->
@@ -641,7 +644,7 @@ <h1>/home/runner/work/beluga/beluga/beluga_amcl/include/beluga_amcl/ndt_amcl_nod
   
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@@ -572,7 +572,7 @@ <h1>/home/runner/work/beluga/beluga/beluga_amcl/include/beluga_amcl/ros2_common.
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diff --git a/tutorials/nav2-integration.html b/tutorials/nav2-integration.html
index a792993b7..4b6705532 100644
--- a/tutorials/nav2-integration.html
+++ b/tutorials/nav2-integration.html
@@ -56,7 +56,7 @@
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   <meta name="viewport" content="width=device-width, initial-scale=1"/>
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+    <meta name="docbuild:last-update" content="&#39;Mon Sep 30 13:04:01 2024 -0300, 5c0a780&#39;"/>
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@@ -570,7 +570,7 @@ <h2>Conclusion<a class="headerlink" href="#conclusion" title="Link to this headi
   
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Mon Sep 30 09:58:48 2024 -0300, cfd6af2&#39;.
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 </p>
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diff --git a/tutorials/particle-filtering.html b/tutorials/particle-filtering.html
index b6f932f05..aa5773dfd 100644
--- a/tutorials/particle-filtering.html
+++ b/tutorials/particle-filtering.html
@@ -58,7 +58,7 @@
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@@ -900,7 +900,7 @@ <h2>2 Compile and run<a class="headerlink" href="#compile-and-run" title="Link t
   
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