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      <arglist>(YPSpur *spur, int cs, double th, double d)</arglist>
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      <arglist>(YPSpur *spur, double dv)</arglist>
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      <arglist>(YPSpur *spur, double dw)</arglist>
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      <anchor>a1c677588a9f06aed9637a1d16c7965a2</anchor>
      <arglist>(YPSpur *spur, int id, double *v)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>YP_md_get_joint_vref</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>ae3d494df52f9186c77b0bd541961ea3c</anchor>
      <arglist>(YPSpur *spur, int id, double *v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_get_parameter</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>ae101c403c602b830e984a8b0654c415e</anchor>
      <arglist>(YPSpur *dev, int param_id, double *value)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_get_parameter_array</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a02f6a408774df3d7ab202b0b4ba4fae4</anchor>
      <arglist>(YPSpur *dev, int param_id, double *value)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>YP_md_get_vref</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>aeb8018f00ab256ec7bd6c8440067442d</anchor>
      <arglist>(YPSpur *dev, double *vref, double *wref)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>YP_md_get_wheel_ang</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>ae71eddf255fcaf0c8135e4590cdd033f</anchor>
      <arglist>(YPSpur *dev, double *theta_r, double *theta_l)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>YP_md_get_wheel_torque</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a166a5f71a460e4b4290abbfa3f159da3</anchor>
      <arglist>(YPSpur *dev, double *torque_r, double *torque_l)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>YP_md_get_wheel_vel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>ad85ccb45ab04acc0acf3e674bb71d45b</anchor>
      <arglist>(YPSpur *dev, double *wr, double *wl)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>YP_md_get_wheel_vref</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a7c5e1117ab597808303cb133c3b6655d</anchor>
      <arglist>(YPSpur *dev, double *wrref, double *wlref)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_joint_ang</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a0595ec5b057ed44655bc76715d5fb705</anchor>
      <arglist>(YPSpur *spur, int id, double a)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_joint_ang_vel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>af8d34c491dac310c3327f68283aaad83</anchor>
      <arglist>(YPSpur *spur, int id, double a, double v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_joint_torque</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a280e1efd209dac71d16a19a0547dedf2</anchor>
      <arglist>(YPSpur *spur, int id, double t)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YP_md_joint_vel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a612cf6569be29c80bd300bb4bf9b396e</anchor>
      <arglist>(YPSpur *spur, int id, double v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_openfree</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>acab928687b2aa8be2d8bea5c942c8285</anchor>
      <arglist>(YPSpur *dev)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>YP_md_request_device_dump</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a85e8db8e4db5efd9ed9f08cc3917f058</anchor>
      <arglist>(YPSpur *dev, int id, int block)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_set_control_state</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>af74eba020f0cf0cbf11838ac2701b326</anchor>
      <arglist>(YPSpur *dev, int control_id, int state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_set_io_data</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a8500628cb70f0dea2ed47bf1af880608</anchor>
      <arglist>(YPSpur *dev, unsigned char data)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_set_io_dir</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a48c0fb61b0f34d5fb08156c0310aafaa</anchor>
      <arglist>(YPSpur *dev, unsigned char dir)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_set_joint_accel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>aecaa9e24c69dc955e7ef16dee2b6bbd9</anchor>
      <arglist>(YPSpur *spur, int id, double a)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YP_md_set_joint_vel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a8ccbf0d9773e20d988592a1856a491dd</anchor>
      <arglist>(YPSpur *spur, int id, double v)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>YP_md_set_parameter</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a0c60efb4df6cc309e5106bc8a9cd4a02</anchor>
      <arglist>(YPSpur *dev, int param_id, double value)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YP_md_set_parameter_array</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>af65c8de66e2db484b476b4d13ae6c7b9</anchor>
      <arglist>(YPSpur *dev, int param_id, double *value)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YP_md_set_wheel_accel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a6f75e943326ed09736d0b8a0831a4c5a</anchor>
      <arglist>(YPSpur *dev, double r, double l)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YP_md_set_wheel_vel</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a39530ac7d20a7743e7da023279f2e921</anchor>
      <arglist>(YPSpur *dev, double r, double l)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YP_md_wheel_ang</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a10a8eca24182b4940eb41daf098676ae</anchor>
      <arglist>(YPSpur *dev, double r, double l)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a4b586bf4b71bf27bb5ca8fa99f53b5eb</anchor>
      <arglist>(YPSpur *dev, double r, double l)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a82b52b4a5c10d9b6d1730d9cd82f479e</anchor>
      <arglist>(YPSpur *dev, double r, double l)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_adjust_pos</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>ae88b371785a7d4bbc80694f62a5864ba</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double theta)</arglist>
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    <member kind="function">
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>aeffd769eb8294bc3893b8fd744ca420c</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double r)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_free</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a7dcf22972b48c7f6bfde07547061b146</anchor>
      <arglist>(YPSpur *dev)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_freeze</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a59f80705f52f447e7fc415e915ca0433</anchor>
      <arglist>(YPSpur *dev)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>YPSpur_md_get_force</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a040f3291cc67f6bfb9ba308cbd4a8d95</anchor>
      <arglist>(YPSpur *dev, double *trans, double *angular)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>YPSpur_md_get_pos</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a27525aa78babc890688645f785dcb6ad</anchor>
      <arglist>(YPSpur *dev, int cs, double *x, double *y, double *theta)</arglist>
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    <member kind="function">
      <type>double</type>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a2a512de78f781ba2019de974febad7f0</anchor>
      <arglist>(YPSpur *dev, double *v, double *w)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_init</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a01aaa55084c7e1913aa4987f8cc1ace1</anchor>
      <arglist>(YPSpur *dev)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_init_socket</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a113d867c5ae72506d99ef1f15d8e0996</anchor>
      <arglist>(YPSpur *dev, char *ip, int port)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_initex</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a970c43a528c56ae9badc608bf5bd39e4</anchor>
      <arglist>(YPSpur *dev, int msq_key)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_isfreeze</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a2bb9c4cf618da964239a11057cf1bc57</anchor>
      <arglist>(YPSpur *dev)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_line</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>aef8e95ed0ab7a6c1558eb9b4115d18a8</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double theta)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_near_ang</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a66d94a30e696f2030d99976cb77f1307</anchor>
      <arglist>(YPSpur *dev, int cs, double th, double d)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>YPSpur_md_near_pos</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>aff02888420176fc828843a9bb5536ec0</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double r)</arglist>
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    <member kind="function">
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      <name>YPSpur_md_orient</name>
      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a9822881cc02bc9818ad98b051f9a2c99</anchor>
      <arglist>(YPSpur *dev, int cs, double theta)</arglist>
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    <member kind="function">
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a1cea6e4494e27b8111f3c306bc510e2d</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double theta)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a8be15c4dd851aa06cd987748a7dc783f</anchor>
      <arglist>(YPSpur *dev, double v)</arglist>
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      <type>int</type>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a7731a9d9e39611c5e24ffa24da5081b4</anchor>
      <arglist>(YPSpur *dev, double w)</arglist>
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    <member kind="function">
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>aae5a7a8fc287d1edb80e3b32962c3568</anchor>
      <arglist>(YPSpur *dev, double w)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a54b8137b34dc763b0976352dd864f504</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double theta)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a895ec4ec82e699eddfd748be2ebab391</anchor>
      <arglist>(YPSpur *dev, double v)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a525bb868d8efcc65fcc58839ad847700</anchor>
      <arglist>(YPSpur *dev, int cs, double theta)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a47add4c0b836210f0d9d2e4bcd6a6311</anchor>
      <arglist>(YPSpur *dev)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a9b7bbfea0e62e3ef923d4da3c18723de</anchor>
      <arglist>(YPSpur *dev, int cs, double x, double y, double theta)</arglist>
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      <arglist>(YPSpur *dev, int cs, double dir, double tilt)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
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      <arglist>(YPSpur *dev)</arglist>
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      <anchorfile>ypspur-md_8h.html</anchorfile>
      <anchor>a14b495e98ca64c49803055314ce5d407</anchor>
      <arglist>(YPSpur *dev, double v, double w)</arglist>
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      <arglist>(x, y, th)</arglist>
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      <arglist>(x, y, th)</arglist>
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      <arglist>(x, y, th)</arglist>
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      <arglist>(x, y, th)</arglist>
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      <arglist>(x, y, th)</arglist>
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      <arglist>(x, y, d)</arglist>
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      <arglist>(x, y, d)</arglist>
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      <arglist>(x, y, d)</arglist>
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      <arglist>()</arglist>
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      <arglist>(trans, angular)</arglist>
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