<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>CartesianImpedance.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>CartesianImpedance_8cc</filename>
    <includes id="CartesianImpedance_8cc" name="CartesianImpedance.cc" local="yes" imported="no">CartesianImpedance.hh</includes>
  </compound>
  <compound kind="file">
    <name>CartesianImpedance.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>CartesianImpedance_8hh</filename>
    <includes id="FRIData_8hh" name="FRIData.hh" local="yes" imported="no">FRIData.hh</includes>
    <class kind="class">CartesianImpedanceControl</class>
  </compound>
  <compound kind="file">
    <name>fri_dummy_arm.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/test/</path>
    <filename>fri__dummy__arm_8cc</filename>
    <class kind="class">FRIServer</class>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>fri__dummy__arm_8cc.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>FRICheck.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>FRICheck_8cc</filename>
    <includes id="FRICheck_8cc" name="FRICheck.cc" local="yes" imported="no">FRICheck.hh</includes>
    <member kind="define">
      <type>#define</type>
      <name>DEG</name>
      <anchorfile>FRICheck_8cc.html</anchorfile>
      <anchor>a536e48026a77f8365359a33a3e0eb726</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>EPS</name>
      <anchorfile>FRICheck_8cc.html</anchorfile>
      <anchor>a6ebf6899d6c1c8b7b9d09be872c05aae</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD</name>
      <anchorfile>FRICheck_8cc.html</anchorfile>
      <anchor>ab812f1e2f95156906fcaca00bc6f490e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>FRICheck.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>FRICheck_8hh</filename>
    <class kind="class">FRICheck</class>
  </compound>
  <compound kind="file">
    <name>FRICheck_legacy.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/test/</path>
    <filename>FRICheck__legacy_8cc</filename>
    <includes id="FRICheck__legacy_8cc" name="FRICheck_legacy.cc" local="yes" imported="no">FRICheck_legacy.hh</includes>
    <member kind="define">
      <type>#define</type>
      <name>DEG</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a536e48026a77f8365359a33a3e0eb726</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>ab812f1e2f95156906fcaca00bc6f490e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>safety_check</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a591d093079c393fde576f30de02fb2d2</anchor>
      <arglist>(float *vel, float *vel_old, float *pos, float rate)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>j5_angles_left</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a70a698ff656c367e29c754c7340c4c85</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>j5_angles_right</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a779e85d37f72b850a1edffafdacc9028</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>j6_max_left</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>adffe023edfde91a53d43d562eca1cae3</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>j6_max_right</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a4fe5e4478ec881e9613375ca55a4826b</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>j6_min_left</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>afc039d35526fa5d1b8d006b27b9ac181</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>j6_min_right</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a2b1518082901a6358ab9a961f210cf46</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>length_left</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a0450aea4c04d74ba50079628930511ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>length_right</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>acd3e597ba9870a5bca153e9fc4c955cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>limh</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a6910fe07c5cf33df0015799624e8c118</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>liml</name>
      <anchorfile>FRICheck__legacy_8cc.html</anchorfile>
      <anchor>a811671ddd985467a2499991e0479f159</anchor>
      <arglist>[7]</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>FRICheck_legacy.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/test/</path>
    <filename>FRICheck__legacy_8hh</filename>
    <class kind="class">FRICheck_legacy</class>
    <member kind="define">
      <type>#define</type>
      <name>SAFETY_LEFT</name>
      <anchorfile>FRICheck__legacy_8hh.html</anchorfile>
      <anchor>a650362ee60bc52897392b9e9f81b734d</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>SAFETY_RIGHT</name>
      <anchorfile>FRICheck__legacy_8hh.html</anchorfile>
      <anchor>aef17476118fa25d7cd4553553f39946a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>FRIComm.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>FRIComm_8cc</filename>
    <includes id="FRIComm_8cc" name="FRIComm.cc" local="yes" imported="no">FRIComm.hh</includes>
    <includes id="FRIData_8hh" name="FRIData.hh" local="yes" imported="no">FRIData.hh</includes>
    <includes id="FRICheck_8hh" name="FRICheck.hh" local="yes" imported="no">FRICheck.hh</includes>
    <includes id="CartesianImpedance_8hh" name="CartesianImpedance.hh" local="yes" imported="no">CartesianImpedance.hh</includes>
    <class kind="class">pthread_scoped_lock</class>
    <member kind="define">
      <type>#define</type>
      <name>DEG</name>
      <anchorfile>FRIComm_8cc.html</anchorfile>
      <anchor>a536e48026a77f8365359a33a3e0eb726</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD</name>
      <anchorfile>FRIComm_8cc.html</anchorfile>
      <anchor>ab812f1e2f95156906fcaca00bc6f490e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FILE *</type>
      <name>LOG</name>
      <anchorfile>FRIComm_8cc.html</anchorfile>
      <anchor>af69c7e7755397b960e5f8a7ea7938fa7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>FRIComm.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>FRIComm_8hh</filename>
    <includes id="FRIData_8hh" name="FRIData.hh" local="yes" imported="no">FRIData.hh</includes>
    <class kind="class">FRIComm</class>
    <class kind="class">FRIThread</class>
    <class kind="class">FRIThread::KRLCmd</class>
  </compound>
  <compound kind="file">
    <name>FRIData.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>FRIData_8hh</filename>
    <class kind="class">CartesianImpedance</class>
    <class kind="class">RobotCommand</class>
    <class kind="class">RobotData</class>
    <class kind="class">RobotStatus</class>
  </compound>
  <compound kind="file">
    <name>main.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>main_8cc</filename>
    <includes id="FRIComm_8hh" name="FRIComm.hh" local="yes" imported="no">FRIComm.hh</includes>
    <includes id="FRICheck_8hh" name="FRICheck.hh" local="yes" imported="no">FRICheck.hh</includes>
    <includes id="main_8cc" name="main.cc" local="yes" imported="no">YARPComm.hh</includes>
    <includes id="FRIData_8hh" name="FRIData.hh" local="yes" imported="no">FRIData.hh</includes>
    <member kind="function">
      <type>void</type>
      <name>catchsignal</name>
      <anchorfile>main_8cc.html</anchorfile>
      <anchor>af261b388e6a3a0a58c9413fcea7466c2</anchor>
      <arglist>(int signo)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>friConfigure</name>
      <anchorfile>main_8cc.html</anchorfile>
      <anchor>af4e42c3f245f2034f1bae3c775fc2f80</anchor>
      <arglist>(const char *side, FRIThread *kuka, char *yarp_prefix)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>main_8cc.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>should_exit</name>
      <anchorfile>main_8cc.html</anchorfile>
      <anchor>a313667e202f1f71ae6c629d86b652a47</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ROSComm.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>ROSComm_8cc</filename>
    <includes id="ROSComm_8hh" name="ROSComm.hh" local="yes" imported="no">ROSComm.hh</includes>
    <includes id="FRIComm_8hh" name="FRIComm.hh" local="yes" imported="no">FRIComm.hh</includes>
    <includes id="FRICheck_8hh" name="FRICheck.hh" local="yes" imported="no">FRICheck.hh</includes>
    <member kind="define">
      <type>#define</type>
      <name>CLAMP</name>
      <anchorfile>ROSComm_8cc.html</anchorfile>
      <anchor>aa1883836bb0955d41ac606649d0cab4b</anchor>
      <arglist>(v, min, max)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ROSComm.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>ROSComm_8hh</filename>
    <includes id="FRIData_8hh" name="FRIData.hh" local="yes" imported="no">FRIData.hh</includes>
    <class kind="class">ROSComm</class>
  </compound>
  <compound kind="file">
    <name>test_checker.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/test/</path>
    <filename>test__checker_8cc</filename>
    <includes id="FRICheck__legacy_8hh" name="FRICheck_legacy.hh" local="yes" imported="no">FRICheck_legacy.hh</includes>
    <class kind="class">FRICheck_test</class>
    <member kind="define">
      <type>#define</type>
      <name>DEG</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>a536e48026a77f8365359a33a3e0eb726</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>EPS</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>a6ebf6899d6c1c8b7b9d09be872c05aae</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>ITER</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>ab5b92945430bd0cb7a04673282cf70c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MAX_STEP</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>a8fa4a934e7d02b3e5dabfc502cb611f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>ab812f1e2f95156906fcaca00bc6f490e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>explicit_check</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>a2265c48d206c204e1cff296801d34c2f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>limit_crash_check</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>ac3d8aaf1ab974cecca7924e94d144962</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>lim_high_</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>a9cd52af0dfa93013d602afd8aeb24ae0</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>lim_low_</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>adab58290ef655a8f53faa4eefa3e5724</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>const float</type>
      <name>margin</name>
      <anchorfile>test__checker_8cc.html</anchorfile>
      <anchor>a94575e9d88a26c974f73190073f030c4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_structs.c</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/test/</path>
    <filename>test__structs_8c</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__structs_8c.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>verify_limits.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/test/</path>
    <filename>verify__limits_8cc</filename>
    <member kind="define">
      <type>#define</type>
      <name>DEG</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a536e48026a77f8365359a33a3e0eb726</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MARGIN_IN</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a8c93887ce5e531efd09e0d9bb8e50a3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>MARGIN_OUT</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a99a4db15d0b927fc5e52ed2415a7b8f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RAD</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>ab812f1e2f95156906fcaca00bc6f490e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>extractLimits</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a75c751668896d1da945763729c949c25</anchor>
      <arglist>(FILE *f, double *angles, int len, double *min6, double *min7, double *max6, double *max7)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>interpolate</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a45a161767914fe7d99d5a0bf37c4baf4</anchor>
      <arglist>(double x1, double x2, double y1, double y2, double x)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>interpolateLimits</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a009b6b21bfc3fc517fd3de6f5f4666a9</anchor>
      <arglist>(int len, double *min6, double *min7, double *max6, double *max7, double *angles, double *min, double *max)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>ae66f6b31b5ad750f1fe042a706a4e3d4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printLimits</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a1f80826684c06c83af5362e417da0973</anchor>
      <arglist>(FILE *f, double *angles, double *min, double *max, int len)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printRawLimits</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>acd512237c45eed2fff55565187d40563</anchor>
      <arglist>(FILE *f, int len, double *min6, double *min7, double *max6, double *max7)</arglist>
    </member>
    <member kind="function">
      <type>char *</type>
      <name>scat</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>af45d061af2ae3b61e9d3081a357fbf0f</anchor>
      <arglist>(const char *str1, const char *str2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>testLimits</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>aaf06919b33b18c12acfec171df70df72</anchor>
      <arglist>(int len, double *angles, double *min, double *max, double *mine, double *maxe)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>verifyHandAngles</name>
      <anchorfile>verify__limits_8cc.html</anchorfile>
      <anchor>a6dac1fdf3566bef9027ddf70a8544877</anchor>
      <arglist>(int len, double *angles, double *min, double *max, const char *side)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>YARPComm.cc</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>YARPComm_8cc</filename>
    <includes id="YARPComm_8hh" name="YARPComm.hh" local="yes" imported="no">YARPComm.hh</includes>
    <includes id="FRIComm_8hh" name="FRIComm.hh" local="yes" imported="no">FRIComm.hh</includes>
  </compound>
  <compound kind="file">
    <name>YARPComm.hh</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-tum-ros-pkg/doc_stacks/2012-12-03_20-44-47.528296/tum-ros-pkg/drivers/kuka_fri/src/</path>
    <filename>YARPComm_8hh</filename>
    <includes id="FRIData_8hh" name="FRIData.hh" local="yes" imported="no">FRIData.hh</includes>
    <class kind="class">YARPComm</class>
  </compound>
  <compound kind="class">
    <name>CartesianImpedance</name>
    <filename>classCartesianImpedance.html</filename>
    <member kind="function">
      <type></type>
      <name>CartesianImpedance</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>aac620c74db049089eff25fa91af225e5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>D</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>a4bb6829e1890d70d2e3b8603c9dede0d</anchor>
      <arglist>[6 *6]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>ft</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>a32d2b10f699465982569d23287b5c4ad</anchor>
      <arglist>[6]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>K</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>a88bcc709dd7d5de37bb163575f240827</anchor>
      <arglist>[6 *6]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>K_null</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>ae0d485361a661a1559441228e2549e2c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>DEFAULT_DAMPING</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>a1ba6a740b6efa5c601fb288483c4d88a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>DEFAULT_ROT_STIFFNESS</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>ab23549896b5dcbc32b418ef8879261a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>DEFAULT_TRANS_STIFFNESS</name>
      <anchorfile>classCartesianImpedance.html</anchorfile>
      <anchor>a35a928abc139a3073c0a792ccc731987</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>CartesianImpedanceControl</name>
    <filename>classCartesianImpedanceControl.html</filename>
    <member kind="function">
      <type></type>
      <name>CartesianImpedanceControl</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a313df545eb854756e867269c280e0852</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>tFriCmdData</type>
      <name>computeRobotCommand</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>ad8f8743e975d2b610b9c3ae57a6b0ee7</anchor>
      <arglist>(const tFriMsrData &amp;state, const tFriCmdData &amp;cmd, const CartesianImpedance &amp;imp, const float *cmdpos)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~CartesianImpedanceControl</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>ad9928b53d6d952a1e7d3983af7b20ba0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>pinv</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a16ad73aa3e773445f1a632e4be7303ac</anchor>
      <arglist>(Eigen::DenseBase&lt; T1 &gt; &amp;J, Eigen::DenseBase&lt; T2 &gt; &amp;Jinv, double eps=1e-13)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDL::Chain</type>
      <name>chain_</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a02f67ecde99d39c4446f9038eba69593</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDL::Jacobian</type>
      <name>J_kdl_</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>aeb4262838e0f9716ff4fa5f77b760809</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Matrix&lt; float, 7, 6 &gt;</type>
      <name>Jinv</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a71ef0477c0cf3b5ed782d95cc4944418</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDL::ChainJntToJacSolver *</type>
      <name>jnt2jac_</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>aab08cb66cd3df66b1839ba070bffac16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDL::JntArray</type>
      <name>q_kdl_</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a97c4cf37cb4ef3ead020e71ca49e83f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>q_last_</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a48ba977d3da8e0ef0e0bf485c9ca1436</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>S</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a93f63649edbb2956228bfd7fc4be7976</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>Sp</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a43991045dcd57495be976ad82b207271</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>tmp</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a29e23f7910e22fe3cc57c5d2633ce5b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>U</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a48fffff3cf03a9b71fcf21562e5e515f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>V</name>
      <anchorfile>classCartesianImpedanceControl.html</anchorfile>
      <anchor>a654a4a91cf838395da729133b2362c96</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRICheck</name>
    <filename>classFRICheck.html</filename>
    <member kind="enumeration">
      <name>HandSide</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a7c5a714d6bdd0bd743d033c2cd68dff3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>NONE</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a7c5a714d6bdd0bd743d033c2cd68dff3ac4826a59b34847c7353dbcd9a8a9b5bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LEFT</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a7c5a714d6bdd0bd743d033c2cd68dff3aacba02a8c939a2de4766832ccae38e37</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RIGHT</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a7c5a714d6bdd0bd743d033c2cd68dff3a94b6a940cd3dda912f58c583f9063f24</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>adjust</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a668a28897a7d6fbe736975be334aab04</anchor>
      <arglist>(float *pos, float rate, float safety_factor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FRICheck</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a7744dd48969dbb610b0b04766d09d6c1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float *</type>
      <name>pos</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>af86da7c21040712a04761403cfc3b540</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setHandLimits</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a0bfec11c9efc7e48ae301342f37fae6d</anchor>
      <arglist>(double *j5_angles, double *j6_min, double *j6_max, int length)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setHandSide</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>ace0692266c7ce43ce9ea7813fb58449c</anchor>
      <arglist>(HandSide side)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPos</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>accb5bfb5f004e4d07bec42c11a710665</anchor>
      <arglist>(float *pos)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static double</type>
      <name>j5_angles_left</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>aed022693031ae0c46da0f6048a96be65</anchor>
      <arglist>[24]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static double</type>
      <name>j5_angles_right</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a5ddf7378e2c7afba1df0a90dbaa16a0e</anchor>
      <arglist>[24]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static double</type>
      <name>j6_max_left</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a51ca6e42960ac295312dae854e3f853e</anchor>
      <arglist>[24]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static double</type>
      <name>j6_max_right</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a15d22f3538801f098d49bc6652013920</anchor>
      <arglist>[24]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static double</type>
      <name>j6_min_left</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>aad9895e8a319d2d4a65ae86b53430687</anchor>
      <arglist>[24]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static double</type>
      <name>j6_min_right</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>ad3cca6dfd148f45df9199b67d40468d3</anchor>
      <arglist>[24]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>length_left</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a9f94f066e6bf09f2e42fbca8eee80f42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>length_right</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a89b4157fc01bccd139759e1744896985</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>lim_acc_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>adf92f394040b901b7c3eb8a208f2dd7f</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>lim_high_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a6e6ab2328f7d2f231af3774b7807e249</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>lim_low_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>acd2d89f60af7977c586cd5917a67282c</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>lim_vel_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>aa25e0064559b2122a1aac18d0e905d30</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const float</type>
      <name>margin_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a9e0bfbe58e6e6274ab2017e58bb09ece</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>find_index</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>abba0de8f810bc4deaefe2ead37054c4e</anchor>
      <arglist>(float j5)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>hand_check</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>af1ef9c08c3ba5483bdfe24ff1b35f3bf</anchor>
      <arglist>(float vel[7], float vel_old[7], float pos[7], float rate)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>interpolate</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>abcc4c3d9c49c08fa737de8d8ab0d4e66</anchor>
      <arglist>(double x, double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>max_j6</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a6e74634f1496e6afbb9b478028bbca3b</anchor>
      <arglist>(float j5, int index)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>min_j6</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>aceb378197c12bccfc005a231895d4477</anchor>
      <arglist>(float j5, int index)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>safety_check</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>af2852164c4cd308d7feab23910778398</anchor>
      <arglist>(float vel[7], float vel_old[7], float pos[7], float rate, float safety_factor)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>slope</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a7dc70b7d58bdcc008d9181c9c331efc9</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>slope_max_j6</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a8465716d851de6ee9f01ec1933a24a53</anchor>
      <arglist>(int index)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>slope_min_j6</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>aa80f4a0051e6b790b6233c9f44d7a93e</anchor>
      <arglist>(int index)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>j56_length_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a56cf2bb8bba2b7a5a3204cd3c2c6b908</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double *</type>
      <name>j5_angles_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>ad9b75f151972e359371d7fc5f4170ff5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double *</type>
      <name>j6_max_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a3c96df5b90fc0a08d9bd6a8f50172b2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double *</type>
      <name>j6_min_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a454320aa72ea5437b3d03ee124298aee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>pos_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>a0f6e54c9089a812452b2a393280d6b1f</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>vel_old_</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>ad2641060488b4cdfb57a2d5ce1014434</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>FRICheck_test</name>
      <anchorfile>classFRICheck.html</anchorfile>
      <anchor>ae870a0f014e6b7fac741203be3058860</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRICheck_legacy</name>
    <filename>classFRICheck__legacy.html</filename>
    <member kind="function">
      <type>void</type>
      <name>adjust</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a993074ceebc3c25e4766aaf84b46a97c</anchor>
      <arglist>(float *pos, float rate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FRICheck_legacy</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a407b94f3dd0b799660a5c3b836a83986</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float *</type>
      <name>pos</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a558bbfc493e3b8c5a8b878612cd13a2a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>safety_set_side</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a8d41f0c7fff76e9cbac7cb5d3663fed0</anchor>
      <arglist>(int side)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPos</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>ae46c895cc6f580ec8364cce330f2d540</anchor>
      <arglist>(float *pos)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>find_index</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a932505236a844aad5557a4732d588f73</anchor>
      <arglist>(float j5)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>interpolate</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a4934029d13f76969eec920e4d2ae1c24</anchor>
      <arglist>(double x, double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>max_j6</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a366b3acc443672ad01510f0f10a0629d</anchor>
      <arglist>(float j5, int index)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>min_j6</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a92925a3edf0fc4a514df4866fd11229e</anchor>
      <arglist>(float j5, int index)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>safety_check</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a8b5fb3dc0672959bb407868a3acc991e</anchor>
      <arglist>(float *vel, float *vel_old, float *pos, float rate)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double *</type>
      <name>j5_angles</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>ab795ab83c60a3d1a16bbf469ae8dba60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double *</type>
      <name>j6_max</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a3e35ab34347bf96d45c25ec2669e7c1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double *</type>
      <name>j6_min</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>afdfe288d4011ccfe8f5759ec3ed82ca6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>length</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a0715133bd2d4cde4d67797cde2685f7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>pos_</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>ab807adef53bc8c5d41246999f5b9fd92</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>vel_old_</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>ac18d5266ffe73ab2b82c258b1cca1608</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>lim_acc</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a1aa9cadc873ccbb4443c878cf109951e</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>lim_high</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>ae7be76cb67d13f6b1f2f77856464c601</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>lim_low</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>a3c3e28b648150adfcae88b80add3eb81</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>lim_vel</name>
      <anchorfile>classFRICheck__legacy.html</anchorfile>
      <anchor>adc4c1efe99580c32b8615f1ec354485e</anchor>
      <arglist>[7]</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRICheck_test</name>
    <filename>classFRICheck__test.html</filename>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>hand_check_movePoint</name>
      <anchorfile>classFRICheck__test.html</anchorfile>
      <anchor>a4d9bd4982f5c75ec580312c2f6a47a3e</anchor>
      <arglist>(FRICheck checker, int index, double j5, double j6, double vel_j5, double vel_j6, bool should_brake)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>hand_check_random</name>
      <anchorfile>classFRICheck__test.html</anchorfile>
      <anchor>a2985ef9e029bbcf8d477e11fc36c7064</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>hand_check_right</name>
      <anchorfile>classFRICheck__test.html</anchorfile>
      <anchor>a224ad1e0f6e70acec1d32a303f412a48</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRIComm</name>
    <filename>classFRIComm.html</filename>
    <member kind="function">
      <type>void</type>
      <name>close</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ae73c312145b90be708589f28acd0a7eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>RobotCommand</type>
      <name>cmd</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a3c381f57d5b80db0011678eb8d3dd888</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>configureNetwork</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a3f7ea8c7632be0c6e6ed2c5e14026ecd</anchor>
      <arglist>(int local_port, std::string remote_address, int remote_port)</arglist>
    </member>
    <member kind="function">
      <type>RobotData</type>
      <name>data</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ac1154c595181665e922ecdad501e5d1b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FRIComm</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ace268be9dcb8f72f150c92174b63734a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>FRICheck *</type>
      <name>limitChecker</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a0d1626e8fd1ff5a6e257d3d476889b2b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>open</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ac1fb43d1ca3b4466b254d9552ae95107</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>postCommand</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>aea3ed27ea42dfc8a7d55bb829278b1c0</anchor>
      <arglist>(int iData[16], float rData[16])</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>receive</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a4a245e57e8c5e7d5e6c5a1bc941ce10a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>respond</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a31f12847fadc3e2fe99c53094ecafd71</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>runstop</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a865aca035231d5ae282da2a27bd98f94</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCmd</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a0506d2f9f33511d320b79bc1a2028981</anchor>
      <arglist>(RobotCommand cmd)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRunstop</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a6b835303f7e564f2a70581685d863a96</anchor>
      <arglist>(bool stopped)</arglist>
    </member>
    <member kind="function">
      <type>RobotStatus</type>
      <name>status</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a8e250cf8064092fcfe062c6dfd785624</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~FRIComm</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a91b8c88a48650159e12c8fc2c2ec26c8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>printStatus</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a851d32f2b2a1d17bc136b442db525c0b</anchor>
      <arglist>(char *buffer, RobotData data, RobotCommand cmd, RobotStatus status)</arglist>
    </member>
    <member kind="variable">
      <type>tFriCmdData</type>
      <name>fri_cmd_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a0f6ae39d195e001e3004794b55b9a973</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tFriMsrData</type>
      <name>fri_msr_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a748adc005bd93197826c579b94064cc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>processCommand</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>af5ecff08396a50ee1e2b0c9f919e3fd8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>stateHandler</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ab2678282f9ca5c290f411a8ee7b52e05</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>tick</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a4943b8838977e110b1c2af795225c654</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>tock</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a0214e81277f435f4dca758594728921c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>CartesianImpedanceControl *</type>
      <name>cartesianImpedance_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a1a9fb4dd47e1b0c2900d9e7a30b03aab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>CartesianImpedance</type>
      <name>cartesianImpedanceCmd_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a0a2eb769eda48af217cde9077738a3a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>closing_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a60efa4cc52db504fea0b7a9214425e70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>duration_max</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>aab7665424cf8ec3e654fcc5251730d5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>duration_max_published</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a11c9e451b7759584d48395912b6c701c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>duration_mean_published</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a8da7406ac8bfa9e1a7b3a05cffca86b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>duration_num</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a525afe5ae50a511e4fa71db22c2981a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>long long</type>
      <name>duration_sum</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>aee68c526da556e4b4fdc5b352697e863</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>krl_time_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a4beb6fe4e71bc562a4a045e39ea7dc0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>struct timeval</type>
      <name>last_tick</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ab88e23d2bbb363d65363580d116e8468</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>local_port_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a36d46ce0db12261ffba990c37714f367</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>struct sockaddr_in</type>
      <name>remote_addr_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a43dce8f9a2248543e34c7a90a787e4f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>remote_address_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a43351038f1640758054aa1b98b76d54b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>remote_port_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a10882a17c36bdc643003773f4a165fe2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>runstop_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>ab28f45e1c96fb1d520ae7a22b903c2c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FRICheck *</type>
      <name>safety2_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a60e0f70752868e71f528e7e5656ea3ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FRICheck *</type>
      <name>safety_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a6b20b09efc0a0948f873ca1b08734cd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>seq_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a4b80274570822493e926aff89b7e6b77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>socket_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a469f8f090968d8dc2900d555637fce53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>useCartesianImpedance_</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>a881b55624a83f46543d110100cce855a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>KRL_GUARD_TIME</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>aae6c15cb4fdb4d4df39a36f566448026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>KRL_TIMEOUT</name>
      <anchorfile>classFRIComm.html</anchorfile>
      <anchor>acdf0a94c4ec86d9662c1712c972bcc51</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRIServer</name>
    <filename>classFRIServer.html</filename>
    <member kind="function">
      <type>void</type>
      <name>communicate</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>a620e224a3bbb7e53e5bf1bd306cb2c36</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>init_msr_packet</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>a043e798a2256f6c9105ddee204550274</anchor>
      <arglist>(tFriMsrData &amp;msr)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>init_network</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>a7a059f0d27fc46854b6a94f3364bffdf</anchor>
      <arglist>(const char *peer_address, int peer_port, const char *my_address, int my_port)</arglist>
    </member>
    <member kind="variable">
      <type>tFriCmdData</type>
      <name>cmd_msg_</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>aa600c3760627af745400340f9acefafe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>counter_</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>a3c202f59a16688849007ac79644238cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tFriMsrData</type>
      <name>msr_msg_</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>aca5f5b4764efabbf4a2f147d3af23e4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>struct sockaddr_in recv_addr_</type>
      <name>peer_addr_</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>a21fc1dc6e82524dd1edbb8a86ad6f86f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>socklen_t</type>
      <name>recv_addr_len_</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>aa3ac048d2149846019ff6d4e059d1228</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>sock_</name>
      <anchorfile>classFRIServer.html</anchorfile>
      <anchor>a1bdb17d022e63fa7166ba13b2101e57f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRIThread</name>
    <filename>classFRIThread.html</filename>
    <class kind="class">FRIThread::KRLCmd</class>
    <member kind="function">
      <type>RobotCommand</type>
      <name>cmd</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a82303ef4b8adfd8da3daa86a01a35f18</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>configureNetwork</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a159666abf8073f76d8767d6877b2d654</anchor>
      <arglist>(int local_port, const char *remote_address, int remote_port)</arglist>
    </member>
    <member kind="function">
      <type>RobotData</type>
      <name>data</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>ae20f4bde81a4ed311b91bd9eb647973e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>finish</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>aa426f8fb9ffa1db68d6f1d2d6e1ca668</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FRIThread</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>af6d102ecdae39aead4de04d3e7b49cba</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>FRICheck *</type>
      <name>limitChecker</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a4274509b5e5bee01cdd9eb9175f7917b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>postCommand</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>aec20b2d4f7ab3e3713313789fe4e6e5f</anchor>
      <arglist>(int iData[16], float rData[16])</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>running</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a976c0affc095342eaddcc8b3ff879df7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>runstop</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>aa6a8e2fee3814b8eb848779c7b3c131e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCmd</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a14e949b33c95f616adbb1962a14dbd72</anchor>
      <arglist>(RobotCommand cmd)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRunstop</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a400a3f85619188bb3598c3fca2820b2e</anchor>
      <arglist>(bool stopped)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>start</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a7d7d6b158645faaa679b61c2ee93df29</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>RobotStatus</type>
      <name>status</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a12e37f85f686fee243f33681434183e5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void *</type>
      <name>run</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>afd3f3894a9e65c166aa86e7163889cf6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void *</type>
      <name>run_s</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>af5383a6bc62c1fef501c5626bad4b7e8</anchor>
      <arglist>(void *ptr)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotCommand</type>
      <name>cmd_buffer_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a3f61e98eddb02513e2847898688f9cf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotData</type>
      <name>data_buffer_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a78bf443a19bc5bd646fd686b93a53218</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>exitRequested_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>aae202cbe732d7a2ad33c6b43d6c5d47f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FRIComm</type>
      <name>fri</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a8148570747f4e4a41e21c5695fee35cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KRLCmd</type>
      <name>krlcmd_buffer_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>af6ba450c05cf96fd5c60e94c43faf095</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pthread_mutex_t</type>
      <name>mutex_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a1ff402451b4a016d1b188b487b6e7ac0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>running_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>a607be4ff04dfa71f584c0958184290d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>runstop_buffer_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>ac3fc8e1da32891bfceb27062a2c91970</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotStatus</type>
      <name>status_buffer_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>ab44810bdf7e4386283a4a20bec33a484</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pthread_t</type>
      <name>thread_</name>
      <anchorfile>classFRIThread.html</anchorfile>
      <anchor>ae38ce534e187383e1f4fa01b275144c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>FRIThread::KRLCmd</name>
    <filename>classFRIThread_1_1KRLCmd.html</filename>
    <member kind="variable">
      <type>bool</type>
      <name>fresh</name>
      <anchorfile>classFRIThread_1_1KRLCmd.html</anchorfile>
      <anchor>adda48d5b8133f20254764121d57ac135</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>iData</name>
      <anchorfile>classFRIThread_1_1KRLCmd.html</anchorfile>
      <anchor>a6d20d346fd35be5e7dc7f8d476f235f8</anchor>
      <arglist>[16]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>rData</name>
      <anchorfile>classFRIThread_1_1KRLCmd.html</anchorfile>
      <anchor>adb817b0a42e8dae23b2b58b4575e819c</anchor>
      <arglist>[16]</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pthread_scoped_lock</name>
    <filename>classpthread__scoped__lock.html</filename>
    <member kind="function">
      <type></type>
      <name>pthread_scoped_lock</name>
      <anchorfile>classpthread__scoped__lock.html</anchorfile>
      <anchor>a9ffc42c4760003abc4c0af09ad16de91</anchor>
      <arglist>(pthread_mutex_t *mutex)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classpthread__scoped__lock.html</anchorfile>
      <anchor>a1beb90285a2f7ea49263fd26149ed477</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~pthread_scoped_lock</name>
      <anchorfile>classpthread__scoped__lock.html</anchorfile>
      <anchor>ad7be78089e8eebcb1787d0773171f2fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pthread_mutex_t *</type>
      <name>mutex_</name>
      <anchorfile>classpthread__scoped__lock.html</anchorfile>
      <anchor>a4da2128ce0e4c4d6b0d18d494582762a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotCommand</name>
    <filename>classRobotCommand.html</filename>
    <member kind="function">
      <type>void</type>
      <name>incrementPosition</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a68052e1f2836f578c600ba2d3517efc3</anchor>
      <arglist>(float *newPos, float *currentPos, float rate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotCommand</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a3dee38512f355b7f86f0725969bcd2f7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>addTorque</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a41a92c279b80f42ffbf6d6608bdab0aa</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>CartesianImpedance</type>
      <name>cartImpedance</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>aca89765619dfd7e37afc76554cd564fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>command</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a2ed9e232c7e5cf6029457d90693ba047</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>damping</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>ac032574b1142dc21b914c65cbc0ca25e</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>stiffness</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a31ea772c9ae84a979c3acdb83ccb133d</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>useCartesianImpedance</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a8c31ad6b5731221cb4ffab7532964165</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>DEFAULT_DAMPING</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a4ddf9a6f9f17f5bc356188a0adb181e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const float</type>
      <name>DEFAULT_STIFFNESS</name>
      <anchorfile>classRobotCommand.html</anchorfile>
      <anchor>a8452f5c6b62ca2bd6360cc2205002048</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotData</name>
    <filename>classRobotData.html</filename>
    <member kind="function">
      <type></type>
      <name>RobotData</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>a0007f4b014a950d356d2d63156b572af</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>commanded</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>a097602df1a6a9a20f9c7bf00111d4cd2</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>position</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>ad1c3c504fbc48f7a4c34c3b41635221a</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>seq</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>a5f54a7fef6f56f38b3abc1a33a153dae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torque</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>a7121e801c53b5d29cf7a19e0286ce953</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torque_raw</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>a09db78907cff2afc476263a66d5eb206</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torqueTCP</name>
      <anchorfile>classRobotData.html</anchorfile>
      <anchor>a001f2da846d5db959cdbaabc4ac7219e</anchor>
      <arglist>[6]</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotStatus</name>
    <filename>classRobotStatus.html</filename>
    <member kind="function">
      <type></type>
      <name>RobotStatus</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a9ca673c0517e99c968f85dae2073ec01</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>answerRate</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a20b473f8db749bffa1de1ebd2e806af7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>calcTimeMax</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>af7a8e90eaab44896080069186249bba2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>calcTimeMean</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a28ae212a1f5b05336513b65b1ce017f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>cmdSampleTime</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a2d16fd93a9b6721d6cf1f5ce7cb0e636</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>connected</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>ac3873cbe6e5f6b5c3bc66e21d935a9b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>controlMode</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a3f48862dadf8ea31dfdb28b2fd0dfe8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>error</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a4e67738950896232bbb511331a6d0f0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>jitter</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a50f2d49297fbfbda5fb74519773cb82b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>latency</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a9987d6938498c05f7a3a6dc7e73a40e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>missCounter</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>ae365244374419c31d150b58cc803cf95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>missRate</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a4babb43847e32f1fc8f33e4f194b9dc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>msrSampleTime</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>abc3583c1dd59f4e13a8f7976fb8f1bc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>power</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>ab941bf8cdc9158ac002a2ffe67c21ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>quality</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a653abb7cbb808ddc33aa253f89fd56d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>runstop</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a3c9fca5dcad53b5ccabd17551d7d9b80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>safety</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>ac4d42d709917441e23308fdf9398941f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>state</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a181ed036f71c4dec42efbef6f013e829</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>temperature</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a2a8a0d8ef5a543d9e8aa4bed88d625fb</anchor>
      <arglist>[7]</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>time</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a5ed5ffefc58bebd9eac252a59def6485</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>warning</name>
      <anchorfile>classRobotStatus.html</anchorfile>
      <anchor>a28dce0ed180d6a468c683d86049ef812</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ROSComm</name>
    <filename>classROSComm.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>configure</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a377501321379f2692d0a7efe30cbc097</anchor>
      <arglist>(FRIThread *fri)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>finish</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a939a13ba22075169622d41f2c7c6aec4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>open</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>abc8c1e628b3352f7481dbeff8bceb8ba</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishData</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a4fa4db656288c1d3f2fb0b21eb973493</anchor>
      <arglist>(const RobotData &amp;data, const RobotCommand &amp;cmd)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishStatus</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a39f52df46675f939a39fcb9de8892e8f</anchor>
      <arglist>(const RobotStatus &amp;status)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ROSComm</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a95bb08929ec4c78ce5df88895b13495f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>runstop</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a33b86f6ccc4e2db6adc37c3b6b9e6a06</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>start</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a003bf1e446059902e95fb9d2e7e137cd</anchor>
      <arglist>(FRIThread *fri)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ROSComm</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a128b3a13006e3e60c63649e9fe1ee448</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>impedanceCommand</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a0876627851a47fd12194cbf2255c635c</anchor>
      <arglist>(const kuka_fri::ImpedanceCommand::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void *</type>
      <name>run</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>aea23854d5e1639b3efd8daf9f6b311ed</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>runstop_receiver</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a2fc3225f694f5023e7f9efed7c311e99</anchor>
      <arglist>(const std_msgs::BoolConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>status_update</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>ac51b6dde2ddc7ce9f5c9a5d108b80792</anchor>
      <arglist>(diagnostic_updater::DiagnosticStatusWrapper &amp;s)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void *</type>
      <name>run_s</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a0ea145a4feaf5838c58497729ff9eb9e</anchor>
      <arglist>(void *ptr)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>diagnostic_updater::Updater *</type>
      <name>diagnostic_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a7d440c5124c9deddb17cb039a5b7a8fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>exitRequested_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a9249e0c48668114d430c4b408607d669</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FRIThread *</type>
      <name>fri_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a81853382cd555fb2c1acfa08e834b6e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor_msgs::JointState</type>
      <name>joint_state_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>aec50b406835d1108972893d2f55b5f57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle *</type>
      <name>n_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a1e17c11f35abd44710194c0406a0fcc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pub_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>ad5cc942b03204f07ee5e4859e67eaf0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>rate_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>ada8a3b8871e2e47cb9467d7b9d130c7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>running_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a580b22864fdd00c20f1cbb93312ecbd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>side_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>aebef51226933fbc832a28e251a29ceb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>soft_runstop::Handler *</type>
      <name>soft_runstop_handler_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a2f5fb5f354f6262a9b186e68551a1357</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotStatus</type>
      <name>status_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a95cc3a379c0aa88dc30e91867d8a8f0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>sub_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>a38cd4d8f7833e88022083d2606fb7af0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pthread_t</type>
      <name>thread_</name>
      <anchorfile>classROSComm.html</anchorfile>
      <anchor>afff78d7e1cdbe633c2c50160f58f943b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>YARPComm</name>
    <filename>classYARPComm.html</filename>
    <member kind="function">
      <type>void</type>
      <name>finish</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>add80c1d5e1061edc5e62fef8c20d0283</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>open</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a7821a1bae4b68bda9e0cc1804cd7c3e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishData</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a0c63209646698e2e3668aa8a739b79b9</anchor>
      <arglist>(const RobotData &amp;data, const RobotCommand &amp;cmd_old)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>receiveCommand</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a6b601f10ee946ef72ac761f80ff8d68b</anchor>
      <arglist>(RobotCommand *cmd)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>start</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a07f0a6cb1bbf4f1fed9a7091e02081ab</anchor>
      <arglist>(FRIThread *fri)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>YARPComm</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a8f05da7282016d5f7318c30dd4e73a96</anchor>
      <arglist>(const char *prefix)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~YARPComm</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a17056527da6a5cc6ae993df7e0742cbe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>receiveBottle</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a03729c2b9034820fd5f3c516081be27b</anchor>
      <arglist>(yarp::os::BufferedPort&lt; yarp::os::Bottle &gt; &amp;port, float *data, int n)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>receiveKRLCmd</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a875068e3a38c658a3eeb7390c6dc577d</anchor>
      <arglist>(yarp::os::BufferedPort&lt; yarp::os::Bottle &gt; &amp;port, int *iData, float *rData)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void *</type>
      <name>run</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a15d58a63b4474896b4e3765faf1f792a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>sendData</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a16c6a067644bda384cfb225eb3dd3eec</anchor>
      <arglist>(yarp::os::BufferedPort&lt; yarp::os::Bottle &gt; &amp;p, const float *data, int n)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void *</type>
      <name>run_s</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>ab7a835d45fbfef33adf7d0550a89fc88</anchor>
      <arglist>(void *ptr)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>exitRequested_</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>afdb389217eaf3668decd24349c75b22c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>FRIThread *</type>
      <name>fri_</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>ae9044021aa4d9810c38481996e11c3cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::Network *</type>
      <name>net_</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>ae8cf3daedc43d1bb63f001e94fa45db9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_add_torque</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>af0cf51449e9e23b29147655dd6c97353</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_cart_activate</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>acf9c85cf706e767eb1bbdf81edbd0250</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_cart_damping</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>afe300bfb55f27c736adaacd3bac77fb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_cart_force_torque</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a9788a59b7f2f00dac2c80e1a6aecf341</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_cart_stiffness</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>ae66c9783c102ac46249ef8d028b33433</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_commanded</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a626fca4fd21879fed9fdcf87cb70b78d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_commands</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a7eee3fe3175e1fbb5726e5b0c132aa46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_current_cart_damping</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a7060133a9337c32ef7dc0393c8176de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_current_cart_force_torque</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>ae396913aa0a93584ab044d427c318736</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_current_cart_stiffness</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a687083ae6f3bf13b60412d6103ab78b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_damping</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a88e868d58377763ec00d06c7384fddde</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_krlcommand</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a9b1bcb88082b2374c1e4346b46da4ab2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_kukacommand</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>aec7c67fb412328f860d6ffc1b241c3fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_position</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>aee13d5b40c7d22234ad6079fbad585a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_stiffness</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a13113796faf607ca8d00e23e9fd0216a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_torque</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a6c549e9811691124b33968abec1800df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_torque_raw</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a49d12bec8c130096d944b4c91170619c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>yarp::os::BufferedPort&lt; yarp::os::Bottle &gt;</type>
      <name>port_torque_tcp</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a7faa0e2b2a8d88db78c5c91aeb1edbc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const char *</type>
      <name>prefix_</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a732c6fb7562eb492ba56744e169e09bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>running_</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a931617a8dea267093bd1086bd8a45b6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pthread_t</type>
      <name>thread_</name>
      <anchorfile>classYARPComm.html</anchorfile>
      <anchor>a3522abb24619e6304c81c33ac601ae57</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
