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    <name>arm_kinematics_constraint_aware.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_kinematics_constraint_aware/src/</path>
    <filename>arm__kinematics__constraint__aware_8cpp</filename>
    <includes id="arm__kinematics__constraint__aware_8h" name="arm_kinematics_constraint_aware.h" local="no" imported="no">arm_kinematics_constraint_aware/arm_kinematics_constraint_aware.h</includes>
    <namespace>arm_kinematics_constraint_aware</namespace>
    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>FK_INFO_SERVICE</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>afe1c392ff5727c43fe3d668d74347db4</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>FK_SERVICE</name>
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      <anchor>a029120f9c58382b9bc2d793e5cd2d987</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>IK_DEFAULT_TIMEOUT</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a5b249325cfbaabd08b297b998aadf36f</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>IK_INFO_SERVICE</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a99f605b1acc8fae05ccb2d588b8a5a28</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>IK_SERVICE</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aaa4c0eb99a9f4b8a7fdb3b42bdeecd97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const std::string</type>
      <name>IK_WITH_COLLISION_SERVICE</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>ae0ac424c3c5599f684edafe954bc22f7</anchor>
      <arglist></arglist>
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  <compound kind="file">
    <name>arm_kinematics_constraint_aware.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_kinematics_constraint_aware/include/arm_kinematics_constraint_aware/</path>
    <filename>arm__kinematics__constraint__aware_8h</filename>
    <includes id="arm__kinematics__constraint__aware__utils_8h" name="arm_kinematics_constraint_aware_utils.h" local="no" imported="no">arm_kinematics_constraint_aware/arm_kinematics_constraint_aware_utils.h</includes>
    <class kind="class">arm_kinematics_constraint_aware::ArmKinematicsConstraintAware</class>
    <namespace>arm_kinematics_constraint_aware</namespace>
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  <compound kind="file">
    <name>arm_kinematics_constraint_aware_utils.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_kinematics_constraint_aware/src/</path>
    <filename>arm__kinematics__constraint__aware__utils_8cpp</filename>
    <includes id="arm__kinematics__constraint__aware__utils_8h" name="arm_kinematics_constraint_aware_utils.h" local="no" imported="no">arm_kinematics_constraint_aware/arm_kinematics_constraint_aware_utils.h</includes>
    <namespace>arm_kinematics_constraint_aware</namespace>
    <member kind="function">
      <type>bool</type>
      <name>checkConstraintAwareIKService</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aa6f5fd31e27855cf261c7ea149ed795f</anchor>
      <arglist>(kinematics_msgs::GetConstraintAwarePositionIK::Request &amp;request, kinematics_msgs::GetConstraintAwarePositionIK::Response &amp;response, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkFKService</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a7851776456b7a920b3c2992e671cf5f3</anchor>
      <arglist>(kinematics_msgs::GetPositionFK::Request &amp;request, kinematics_msgs::GetPositionFK::Response &amp;response, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkIKService</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a2f23a4180435886e4af437aea05af329</anchor>
      <arglist>(kinematics_msgs::GetPositionIK::Request &amp;request, kinematics_msgs::GetPositionIK::Response &amp;response, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkJointNames</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a267392bb2379276eaf55df4df9d4501f</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkLinkName</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a0d902167fca2630a32cca555a9eef740</anchor>
      <arglist>(const std::string &amp;link_name, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkLinkNames</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a1aec5aaa5efbf35f957c6437e57d6db8</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkRobotState</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aaf29bff9a72fed235509f355b3bec808</anchor>
      <arglist>(arm_navigation_msgs::RobotState &amp;robot_state, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>computeEuclideanDistance</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>af4fd37c120c1436a56bb2fb62eb234b2</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;array_1, const KDL::JntArray &amp;array_2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>convertPoseToRootFrame</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a8d3a95fcde2cb243a84c694f6037cf7b</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;pose_msg, geometry_msgs::PoseStamped &amp;pose_msg_out, const std::string &amp;root_frame, const tf::TransformListener &amp;tf)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>convertPoseToRootFrame</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a58e3bff2466358b1fcdf6a096981e4cf</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;pose_msg, KDL::Frame &amp;pose_kdl, const std::string &amp;root_frame, const tf::TransformListener &amp;tf)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>adc64092321946b6af7cd071860b65a4a</anchor>
      <arglist>(const urdf::Pose &amp;transform)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getChainInfo</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a6399549118b33c8e97467a2f1c14be6a</anchor>
      <arglist>(const std::string &amp;name, kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getChainInfoFromRobotModel</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aed640e1a3569095b565d58635ef17145</anchor>
      <arglist>(urdf::Model &amp;robot_model, const std::string &amp;root_name, const std::string &amp;tip_name, kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getJointIndex</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a6faf67825cacf29ec4897bd339d537b3</anchor>
      <arglist>(const std::string &amp;name, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getKDLChain</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a4d4f4730f5160b3dad3d6338c89c9bb9</anchor>
      <arglist>(const std::string &amp;xml_string, const std::string &amp;root_name, const std::string &amp;tip_name, KDL::Chain &amp;kdl_chain)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getKDLChainInfo</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>adf90a3b260152f10bbf64cc97b7c271c</anchor>
      <arglist>(const KDL::Chain &amp;chain, kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getKDLSegmentIndex</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a3e5f787e317bcdd3aae38bb7e864ec3b</anchor>
      <arglist>(const KDL::Chain &amp;chain, const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getKDLTree</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a274f37fddbc030f94648bf5574c3f82b</anchor>
      <arglist>(const std::string &amp;xml_string, const std::string &amp;root_name, const std::string &amp;tip_name, KDL::Tree &amp;kdl_chain)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix4f</type>
      <name>KDLToEigenMatrix</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>ade52b797b6c3a14d0e062a908dcf3245</anchor>
      <arglist>(const KDL::Frame &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>arm_navigation_msgs::ArmNavigationErrorCodes</type>
      <name>kinematicsErrorCodeToMotionPlanningErrorCode</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a80d73b98c2a8f89ab6003838775f4841</anchor>
      <arglist>(const int &amp;kinematics_error_code)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadRobotModel</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a2013a3ca385f71f52bd0e0b664c94975</anchor>
      <arglist>(ros::NodeHandle node_handle, urdf::Model &amp;robot_model, std::string &amp;root_name, std::string &amp;tip_name, std::string &amp;xml_string)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix4f</type>
      <name>matrixInverse</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a8ba2666f78b11cee8afa9d17ba9efecb</anchor>
      <arglist>(const Eigen::Matrix4f &amp;g)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reorderJointState</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>ae16e67093a135b59ec264862fcd1a24e</anchor>
      <arglist>(sensor_msgs::JointState &amp;joint_state, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>solveCosineEqn</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
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      <arglist>(const double &amp;a, const double &amp;b, const double &amp;c, double &amp;soln1, double &amp;soln2)</arglist>
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      <type>bool</type>
      <name>solveQuadratic</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
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      <arglist>(const double &amp;a, const double &amp;b, const double &amp;c, double *x1, double *x2)</arglist>
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    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>IK_EPS</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aa7472090fdc33e18b1cbce962ed5d5ac</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>NUM_JOINTS_ARM7DOF</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
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      <arglist></arglist>
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    <path>/home/rosbuild/hudson/workspace/doc-electric-arm_navigation/doc_stacks/2013-03-01_14-05-03.553953/arm_navigation/arm_kinematics_constraint_aware/include/arm_kinematics_constraint_aware/</path>
    <filename>arm__kinematics__constraint__aware__utils_8h</filename>
    <namespace>arm_kinematics_constraint_aware</namespace>
    <member kind="function">
      <type>bool</type>
      <name>checkConstraintAwareIKService</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aa6f5fd31e27855cf261c7ea149ed795f</anchor>
      <arglist>(kinematics_msgs::GetConstraintAwarePositionIK::Request &amp;request, kinematics_msgs::GetConstraintAwarePositionIK::Response &amp;response, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkFKService</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a7851776456b7a920b3c2992e671cf5f3</anchor>
      <arglist>(kinematics_msgs::GetPositionFK::Request &amp;request, kinematics_msgs::GetPositionFK::Response &amp;response, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkIKService</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a2f23a4180435886e4af437aea05af329</anchor>
      <arglist>(kinematics_msgs::GetPositionIK::Request &amp;request, kinematics_msgs::GetPositionIK::Response &amp;response, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkJointNames</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a267392bb2379276eaf55df4df9d4501f</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;joint_names, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkLinkName</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a0d902167fca2630a32cca555a9eef740</anchor>
      <arglist>(const std::string &amp;link_name, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkLinkNames</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a1aec5aaa5efbf35f957c6437e57d6db8</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>checkRobotState</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aaf29bff9a72fed235509f355b3bec808</anchor>
      <arglist>(arm_navigation_msgs::RobotState &amp;robot_state, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>computeEuclideanDistance</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>af4fd37c120c1436a56bb2fb62eb234b2</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;array_1, const KDL::JntArray &amp;array_2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>convertPoseToRootFrame</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a8d3a95fcde2cb243a84c694f6037cf7b</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;pose_msg, geometry_msgs::PoseStamped &amp;pose_msg_out, const std::string &amp;root_frame, const tf::TransformListener &amp;tf)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>convertPoseToRootFrame</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a58e3bff2466358b1fcdf6a096981e4cf</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;pose_msg, KDL::Frame &amp;pose_kdl, const std::string &amp;root_frame, const tf::TransformListener &amp;tf)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>adc64092321946b6af7cd071860b65a4a</anchor>
      <arglist>(const urdf::Pose &amp;transform)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getChainInfo</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a6399549118b33c8e97467a2f1c14be6a</anchor>
      <arglist>(const std::string &amp;name, kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getChainInfoFromRobotModel</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>aed640e1a3569095b565d58635ef17145</anchor>
      <arglist>(urdf::Model &amp;robot_model, const std::string &amp;root_name, const std::string &amp;tip_name, kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getJointIndex</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a6faf67825cacf29ec4897bd339d537b3</anchor>
      <arglist>(const std::string &amp;name, const kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getKDLChain</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a4d4f4730f5160b3dad3d6338c89c9bb9</anchor>
      <arglist>(const std::string &amp;xml_string, const std::string &amp;root_name, const std::string &amp;tip_name, KDL::Chain &amp;kdl_chain)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getKDLChainInfo</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>adf90a3b260152f10bbf64cc97b7c271c</anchor>
      <arglist>(const KDL::Chain &amp;chain, kinematics_msgs::KinematicSolverInfo &amp;chain_info)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getKDLSegmentIndex</name>
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      <anchor>a3e5f787e317bcdd3aae38bb7e864ec3b</anchor>
      <arglist>(const KDL::Chain &amp;chain, const std::string &amp;name)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getKDLTree</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a274f37fddbc030f94648bf5574c3f82b</anchor>
      <arglist>(const std::string &amp;xml_string, const std::string &amp;root_name, const std::string &amp;tip_name, KDL::Tree &amp;kdl_chain)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix4f</type>
      <name>KDLToEigenMatrix</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>ade52b797b6c3a14d0e062a908dcf3245</anchor>
      <arglist>(const KDL::Frame &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>arm_navigation_msgs::ArmNavigationErrorCodes</type>
      <name>kinematicsErrorCodeToMotionPlanningErrorCode</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a80d73b98c2a8f89ab6003838775f4841</anchor>
      <arglist>(const int &amp;kinematics_error_code)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadRobotModel</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
      <anchor>a2013a3ca385f71f52bd0e0b664c94975</anchor>
      <arglist>(ros::NodeHandle node_handle, urdf::Model &amp;robot_model, std::string &amp;root_name, std::string &amp;tip_name, std::string &amp;xml_string)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Matrix4f</type>
      <name>matrixInverse</name>
      <anchorfile>namespacearm__kinematics__constraint__aware.html</anchorfile>
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