<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>__init__.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/hrl_software_simulation_darpa_m3/</path>
    <filename>____init_____8py</filename>
    <namespace>hrl_software_simulation_darpa_m3</namespace>
  </compound>
  <compound kind="file">
    <name>demo_kinematic.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/deprecated/</path>
    <filename>demo__kinematic_8cpp</filename>
    <class kind="struct">MyFeedback</class>
    <member kind="function">
      <type>void</type>
      <name>base_ep_cb</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>af64fa8a260476b39162ba2fd2a46d9e4</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_compliant_obstacles</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a4bc60f27c3a73044cc233d1a862a30fa</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_fixed_obstacles</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a069459ff6b96dc4b92337c1222a3f95a</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_movable_obstacles</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a1641f17205d27d1a41d5cf25646da2d0</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_robot</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a0e2fa8a85d241316b36e02bc96bade89</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>get_wall_clock_time</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a21e5118fa1b2489f1b039a2ca21aab35</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>go_initial_position</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a7e370242a0ac92349cda9fe6be601a56</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inner_torque_loop</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>adf3fedf1ab055a1446422ec78be06625</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>jep</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a846816d74b6b74df692834151b779b08</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jep_cb</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ab74cfb32e9ab5f3d92103f638b1e8893</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>k_d</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ade7c36d9179fec1dfbc4a8c5cf6eb5a0</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>k_p</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a8dad5bb9b5883a6c552c98b28b295395</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_ep</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>aee0ff64362f75c75ebe0c461856d9a53</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_generalized_forces</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a67b464bea2d7a644669cc1aa413b067d</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_k_d</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a4e45c8ce50335c9a8b708d98b5e79e37</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_k_p</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a3296a355d4db680a90e047b0c928f834</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>names</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ae4e8510a9c9a31050a19b37ae08f1938</anchor>
      <arglist>(MAX_FEEDBACKNUM)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>nearCallback</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a9cbfbb5f1b0454b7b820ab57c4cb6775</anchor>
      <arglist>(void *data, dGeomID o1, dGeomID o2)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>q</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>aebe97c45c177b510e3f61e4450053958</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>q_dot</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a5c50aa5d278efe72673e478d90d96ae7</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ROSCallback_impedance</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a69c2561052cc7bc003d0b53f731b9f0d</anchor>
      <arglist>(const hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>taxel_simulation_code</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ae0ae145df2bc1ea319729641265a9690</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>torques</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a379d896965bd0b61a4135e11ca9b3f95</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>body_mobile_base</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a61dbb9e3d5bf94285ae8b3a5c5e8c738</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>compliant_obstacles</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>aa575a1c85540e1f404b1b27c169ef930</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>compliant_plane2d_joint_ids</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a194253d8c5fb13450d4f6e5807673ad7</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::BodyDraw</type>
      <name>draw</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a19ed158707794ce87067931308667d39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>env</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a8bc3bbe15181fe8f2dafb348e8095193</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>fbnum</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ac670ae6471481f7628564aef340dffcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static MyFeedback</type>
      <name>feedbacks</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a6f3f5243190e5ecf73df0f711f6dcadd</anchor>
      <arglist>[MAX_FEEDBACKNUM]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>fixed_joint_ids</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a7edbec7b2040ea4e5df3ffdeed5c84e7</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBodyID</type>
      <name>fixed_obst_ids</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ad93fa25d9ec943cec50eb41aa3b94ff3</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>fixed_obstacles</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>af2f4189ecb70152973e415e4ced49325</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>force_group</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a67ec0067379ea30d93467e61762a2328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>force_grouping</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ada02806caa8087e131c81226776f4284</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>force_sign</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>acb90b30dc99927c9e2f6026d6948dbe7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>forearm_length</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>af15e03b3c218cb75ccc82ec612089dac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>forearm_width</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a35a8ec49d7ed79fd935c40e4f5edf659</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static MyFeedback</type>
      <name>frict_feedbacks</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a9772b9b5c2b70c56047b82de35846165</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link1</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a87551d287add196a698d66c432fce8c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link2</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>afdbf0df28a11b9a6af0ffb59cb64d910</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link3</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a5f6f98bf735799cc14b8bfa6e756316f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>geom_mobile_base</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ab87dcf82e42c91af10fdc72e05b58a4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge1</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a12fb42cc60c8a48559ce216826e0d561</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge2</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a591235ea8162fea8f0c64454d3bfba2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge3</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ab9bfe111f9b1b2f1867220e093c67341</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams</type>
      <name>impedance_params</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a65a068dff16bf70289436f733707017e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>include_mobile_base</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ab9a4359bdaa1d3085b1c17558634cec6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dJointGroup</type>
      <name>joints</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a36980159bafcc96bdc9ae9e0ce29d9eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link1</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a7f326dbd61a6d414e07e3865cf985338</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link2</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a2c08c5eda82c9e385034cff1dcf59446</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link3</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ad3ea1531ee05cd5e7ffa541817909420</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBodyID</type>
      <name>link_ids</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a772d2ccd60423e5d34b963ca41b9e3e0</anchor>
      <arglist>[3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_friction</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a5cd34db5c496b16228af40c6b24b0ba9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_tor_friction</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ad880a1d496b942708c4c6e7588ddaa8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>mobile_base_plane2d_jt_id</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a90b7c914ed6caa77fd26c47c844f8b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_compliant</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a419921bf54fdd25cd2f6045634e129d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_fixed</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a5436b596d1e93fe4ee0abeb33aa453b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_movable</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a731e37b779ed1022a073e4d924f1d84e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_damping</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a7ca2c0ac3d281b45c910af3571ce6a66</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_home</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>aba8df0acf8021b2f16ede083c390a5b4</anchor>
      <arglist>[NUM_OBST][3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_stiffness</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a62ee3a66cccbacc3e8313b177032de7f</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>obstacles</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a5b6165153e5a4aa3885213a7fa34d663</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>plane2d_joint_ids</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ad225ea9f59bfcb9c0fc3cbe2a51a8e85</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_x</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a06febabf132c6ee3c28da01b9dc84d5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_y</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a43494d8f84ce9ea80460bb91ad4041b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_z</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a23b28b8c1e2043de3ca9612161371e11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::SkinContact</type>
      <name>skin</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>afdb248d0def3ff4b21f9c62694288957</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dSpace *</type>
      <name>space</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a85f75e25105090b1814caa0ca59868c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::TaxelArray</type>
      <name>taxel</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a4228e12639adfb22f6895b96fe32ae91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torso_half_width</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ae3827b7ee43bcc3684f401d093b25626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torso_half_width_side</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a08c1e9a485e9264718609860503cea89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>upper_arm_length</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>af90bd6882251307c9fcd659dabd7f978</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>upper_arm_width</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>af614ba40ebd807ad31ba58706678790b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dWorld *</type>
      <name>world</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>ae25617c02909890cd01994fa97806d70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>x_c</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>aecc6e8f2969add76832650efcc056999</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>x_n</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>af5c2f18a2af9045e9e0d83629ebf9392</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>y_c</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a2267ec937f5208916a789387a690aad9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>y_n</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a11c1d0b020939336d79bf083ba84357c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>z_c</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a00ea5a575125ee18232917a50e6d513c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>z_n</name>
      <anchorfile>demo__kinematic_8cpp.html</anchorfile>
      <anchor>a3e2aac7de8fa28ceabad702893d5ef52</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>demo_kinematic_advait.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/deprecated/</path>
    <filename>demo__kinematic__advait_8cpp</filename>
    <class kind="struct">MyFeedback</class>
    <member kind="function">
      <type>void</type>
      <name>base_ep_cb</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>af64fa8a260476b39162ba2fd2a46d9e4</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_compliant_obstacles</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a4bc60f27c3a73044cc233d1a862a30fa</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_fixed_obstacles</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a069459ff6b96dc4b92337c1222a3f95a</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_movable_obstacles</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a1641f17205d27d1a41d5cf25646da2d0</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_robot</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a0e2fa8a85d241316b36e02bc96bade89</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>get_wall_clock_time</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a21e5118fa1b2489f1b039a2ca21aab35</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>go_initial_position</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a7e370242a0ac92349cda9fe6be601a56</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inner_torque_loop</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>adf3fedf1ab055a1446422ec78be06625</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>jep</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a846816d74b6b74df692834151b779b08</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jep_cb</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ab74cfb32e9ab5f3d92103f638b1e8893</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>k_d</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ade7c36d9179fec1dfbc4a8c5cf6eb5a0</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>k_p</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a8dad5bb9b5883a6c552c98b28b295395</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_ep</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>aee0ff64362f75c75ebe0c461856d9a53</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_generalized_forces</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a67b464bea2d7a644669cc1aa413b067d</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_k_d</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a4e45c8ce50335c9a8b708d98b5e79e37</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_k_p</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a3296a355d4db680a90e047b0c928f834</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>names</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ae4e8510a9c9a31050a19b37ae08f1938</anchor>
      <arglist>(MAX_FEEDBACKNUM)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>nearCallback</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a9cbfbb5f1b0454b7b820ab57c4cb6775</anchor>
      <arglist>(void *data, dGeomID o1, dGeomID o2)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>q</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>aebe97c45c177b510e3f61e4450053958</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>q_dot</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a5c50aa5d278efe72673e478d90d96ae7</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ROSCallback_impedance</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a69c2561052cc7bc003d0b53f731b9f0d</anchor>
      <arglist>(const hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>taxel_simulation_code</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ae0ae145df2bc1ea319729641265a9690</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>torques</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a379d896965bd0b61a4135e11ca9b3f95</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>body_mobile_base</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a61dbb9e3d5bf94285ae8b3a5c5e8c738</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>compliant_obstacles</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>aa575a1c85540e1f404b1b27c169ef930</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>compliant_plane2d_joint_ids</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a194253d8c5fb13450d4f6e5807673ad7</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::BodyDraw</type>
      <name>draw</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a19ed158707794ce87067931308667d39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>env</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a8bc3bbe15181fe8f2dafb348e8095193</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>fbnum</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ac670ae6471481f7628564aef340dffcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static MyFeedback</type>
      <name>feedbacks</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a6f3f5243190e5ecf73df0f711f6dcadd</anchor>
      <arglist>[MAX_FEEDBACKNUM]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>fixed_joint_ids</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a7edbec7b2040ea4e5df3ffdeed5c84e7</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBodyID</type>
      <name>fixed_obst_ids</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ad93fa25d9ec943cec50eb41aa3b94ff3</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>fixed_obstacles</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>af2f4189ecb70152973e415e4ced49325</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>force_group</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a67ec0067379ea30d93467e61762a2328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>force_grouping</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ada02806caa8087e131c81226776f4284</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>force_sign</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>acb90b30dc99927c9e2f6026d6948dbe7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>forearm_length</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>af15e03b3c218cb75ccc82ec612089dac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>forearm_width</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a35a8ec49d7ed79fd935c40e4f5edf659</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static MyFeedback</type>
      <name>frict_feedbacks</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a9772b9b5c2b70c56047b82de35846165</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link1</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a87551d287add196a698d66c432fce8c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link2</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>afdbf0df28a11b9a6af0ffb59cb64d910</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link3</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a5f6f98bf735799cc14b8bfa6e756316f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>geom_mobile_base</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ab87dcf82e42c91af10fdc72e05b58a4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge1</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a12fb42cc60c8a48559ce216826e0d561</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge2</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a591235ea8162fea8f0c64454d3bfba2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge3</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ab9bfe111f9b1b2f1867220e093c67341</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams</type>
      <name>impedance_params</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a65a068dff16bf70289436f733707017e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>include_mobile_base</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ab9a4359bdaa1d3085b1c17558634cec6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dJointGroup</type>
      <name>joints</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a36980159bafcc96bdc9ae9e0ce29d9eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link1</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a7f326dbd61a6d414e07e3865cf985338</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link2</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a2c08c5eda82c9e385034cff1dcf59446</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link3</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ad3ea1531ee05cd5e7ffa541817909420</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBodyID</type>
      <name>link_ids</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a772d2ccd60423e5d34b963ca41b9e3e0</anchor>
      <arglist>[3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_friction</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a5cd34db5c496b16228af40c6b24b0ba9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_tor_friction</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ad880a1d496b942708c4c6e7588ddaa8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>mobile_base_plane2d_jt_id</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a90b7c914ed6caa77fd26c47c844f8b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_compliant</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a419921bf54fdd25cd2f6045634e129d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_fixed</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a5436b596d1e93fe4ee0abeb33aa453b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_movable</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a731e37b779ed1022a073e4d924f1d84e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_damping</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a7ca2c0ac3d281b45c910af3571ce6a66</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_home</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>aba8df0acf8021b2f16ede083c390a5b4</anchor>
      <arglist>[NUM_OBST][3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_stiffness</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a62ee3a66cccbacc3e8313b177032de7f</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>obstacles</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a5b6165153e5a4aa3885213a7fa34d663</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>plane2d_joint_ids</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ad225ea9f59bfcb9c0fc3cbe2a51a8e85</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_x</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a06febabf132c6ee3c28da01b9dc84d5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_y</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a43494d8f84ce9ea80460bb91ad4041b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_z</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a23b28b8c1e2043de3ca9612161371e11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::SkinContact</type>
      <name>skin</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>afdb248d0def3ff4b21f9c62694288957</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dSpace *</type>
      <name>space</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a85f75e25105090b1814caa0ca59868c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::TaxelArray</type>
      <name>taxel</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a4228e12639adfb22f6895b96fe32ae91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torso_half_width</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ae3827b7ee43bcc3684f401d093b25626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torso_half_width_side</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a08c1e9a485e9264718609860503cea89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>upper_arm_length</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>af90bd6882251307c9fcd659dabd7f978</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>upper_arm_width</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>af614ba40ebd807ad31ba58706678790b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dWorld *</type>
      <name>world</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>ae25617c02909890cd01994fa97806d70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>x_c</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>aecc6e8f2969add76832650efcc056999</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>x_n</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>af5c2f18a2af9045e9e0d83629ebf9392</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>y_c</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a2267ec937f5208916a789387a690aad9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>y_n</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a11c1d0b020939336d79bf083ba84357c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>z_c</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a00ea5a575125ee18232917a50e6d513c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>z_n</name>
      <anchorfile>demo__kinematic__advait_8cpp.html</anchorfile>
      <anchor>a3e2aac7de8fa28ceabad702893d5ef52</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>demo_kinematic_intermed_cyl.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/deprecated/</path>
    <filename>demo__kinematic__intermed__cyl_8cpp</filename>
    <class kind="struct">MyFeedback</class>
    <member kind="function">
      <type>void</type>
      <name>base_ep_cb</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>af64fa8a260476b39162ba2fd2a46d9e4</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_compliant_obstacles</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a4bc60f27c3a73044cc233d1a862a30fa</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_fixed_obstacles</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a069459ff6b96dc4b92337c1222a3f95a</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_movable_obstacles</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a1641f17205d27d1a41d5cf25646da2d0</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_robot</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a0e2fa8a85d241316b36e02bc96bade89</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>get_wall_clock_time</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a21e5118fa1b2489f1b039a2ca21aab35</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>go_initial_position</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a7e370242a0ac92349cda9fe6be601a56</anchor>
      <arglist>(ros::NodeHandle n)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inner_torque_loop</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>adf3fedf1ab055a1446422ec78be06625</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>jep</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a846816d74b6b74df692834151b779b08</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>jep_cb</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ab74cfb32e9ab5f3d92103f638b1e8893</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>k_d</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ade7c36d9179fec1dfbc4a8c5cf6eb5a0</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>k_p</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a8dad5bb9b5883a6c552c98b28b295395</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_ep</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>aee0ff64362f75c75ebe0c461856d9a53</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_generalized_forces</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a67b464bea2d7a644669cc1aa413b067d</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_k_d</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a4e45c8ce50335c9a8b708d98b5e79e37</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>mobile_base_k_p</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a3296a355d4db680a90e047b0c928f834</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::string &gt;</type>
      <name>names</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ae4e8510a9c9a31050a19b37ae08f1938</anchor>
      <arglist>(MAX_FEEDBACKNUM)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>nearCallback</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a9cbfbb5f1b0454b7b820ab57c4cb6775</anchor>
      <arglist>(void *data, dGeomID o1, dGeomID o2)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>q</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>aebe97c45c177b510e3f61e4450053958</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>q_dot</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a5c50aa5d278efe72673e478d90d96ae7</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ROSCallback_impedance</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a69c2561052cc7bc003d0b53f731b9f0d</anchor>
      <arglist>(const hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>taxel_simulation_code</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ae0ae145df2bc1ea319729641265a9690</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>torques</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a379d896965bd0b61a4135e11ca9b3f95</anchor>
      <arglist>(3, 0)</arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>body_mobile_base</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a61dbb9e3d5bf94285ae8b3a5c5e8c738</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>compliant_obstacles</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>aa575a1c85540e1f404b1b27c169ef930</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>compliant_plane2d_joint_ids</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a194253d8c5fb13450d4f6e5807673ad7</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::BodyDraw</type>
      <name>draw</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a19ed158707794ce87067931308667d39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>env</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a8bc3bbe15181fe8f2dafb348e8095193</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>fbnum</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ac670ae6471481f7628564aef340dffcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static MyFeedback</type>
      <name>feedbacks</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a6f3f5243190e5ecf73df0f711f6dcadd</anchor>
      <arglist>[MAX_FEEDBACKNUM]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>fixed_joint_ids</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a7edbec7b2040ea4e5df3ffdeed5c84e7</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBodyID</type>
      <name>fixed_obst_ids</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ad93fa25d9ec943cec50eb41aa3b94ff3</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>fixed_obstacles</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>af2f4189ecb70152973e415e4ced49325</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static int</type>
      <name>force_group</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a67ec0067379ea30d93467e61762a2328</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>force_grouping</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ada02806caa8087e131c81226776f4284</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; int &gt;</type>
      <name>force_sign</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>acb90b30dc99927c9e2f6026d6948dbe7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>forearm_length</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>af15e03b3c218cb75ccc82ec612089dac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>forearm_width</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a35a8ec49d7ed79fd935c40e4f5edf659</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static MyFeedback</type>
      <name>frict_feedbacks</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a9772b9b5c2b70c56047b82de35846165</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link1_box</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a731a401d1f871d00c9f44feafa9e6383</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dCapsule *</type>
      <name>g_link1_cap</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a1362c6fbbc77bba9ec89d4d960b20714</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link2_box</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a3c816e60a107b33e2765ac8c573e0384</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dCapsule *</type>
      <name>g_link2_cap</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a677e9b373d37b7e95707320244c0b513</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>g_link3_box</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a8eaaef697289aef060d5f0ee5af71889</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dCapsule *</type>
      <name>g_link3_cap</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>afd5b33dfd43b3b6db52167ef3863238d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBox *</type>
      <name>geom_mobile_base</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ab87dcf82e42c91af10fdc72e05b58a4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge1</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a12fb42cc60c8a48559ce216826e0d561</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge2</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a591235ea8162fea8f0c64454d3bfba2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dHingeJoint *</type>
      <name>hinge3</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ab9bfe111f9b1b2f1867220e093c67341</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams</type>
      <name>impedance_params</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a65a068dff16bf70289436f733707017e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>include_mobile_base</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ab9a4359bdaa1d3085b1c17558634cec6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dJointGroup</type>
      <name>joints</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a36980159bafcc96bdc9ae9e0ce29d9eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link1</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a7f326dbd61a6d414e07e3865cf985338</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link2</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a2c08c5eda82c9e385034cff1dcf59446</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBody *</type>
      <name>link3</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ad3ea1531ee05cd5e7ffa541817909420</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dBodyID</type>
      <name>link_ids</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a772d2ccd60423e5d34b963ca41b9e3e0</anchor>
      <arglist>[3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_friction</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a5cd34db5c496b16228af40c6b24b0ba9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_tor_friction</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ad880a1d496b942708c4c6e7588ddaa8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>mobile_base_plane2d_jt_id</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a90b7c914ed6caa77fd26c47c844f8b9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_compliant</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a419921bf54fdd25cd2f6045634e129d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_fixed</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a5436b596d1e93fe4ee0abeb33aa453b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_used_movable</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a731e37b779ed1022a073e4d924f1d84e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_damping</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a7ca2c0ac3d281b45c910af3571ce6a66</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_home</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>aba8df0acf8021b2f16ede083c390a5b4</anchor>
      <arglist>[NUM_OBST][3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>obst_stiffness</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a62ee3a66cccbacc3e8313b177032de7f</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dBody</type>
      <name>obstacles</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a5b6165153e5a4aa3885213a7fa34d663</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>dJointID</type>
      <name>plane2d_joint_ids</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ad225ea9f59bfcb9c0fc3cbe2a51a8e85</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_x</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a06febabf132c6ee3c28da01b9dc84d5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_y</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a43494d8f84ce9ea80460bb91ad4041b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_z</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a23b28b8c1e2043de3ca9612161371e11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::SkinContact</type>
      <name>skin</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>afdb248d0def3ff4b21f9c62694288957</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dSpace *</type>
      <name>space</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a85f75e25105090b1814caa0ca59868c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>hrl_haptic_manipulation_in_clutter_msgs::TaxelArray</type>
      <name>taxel</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a4228e12639adfb22f6895b96fe32ae91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torso_half_width</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ae3827b7ee43bcc3684f401d093b25626</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>torso_half_width_side</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a08c1e9a485e9264718609860503cea89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>upper_arm_length</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>af90bd6882251307c9fcd659dabd7f978</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>upper_arm_width</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>af614ba40ebd807ad31ba58706678790b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dWorld *</type>
      <name>world</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>ae25617c02909890cd01994fa97806d70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>x_c</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>aecc6e8f2969add76832650efcc056999</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>x_n</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>af5c2f18a2af9045e9e0d83629ebf9392</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>y_c</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a2267ec937f5208916a789387a690aad9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>y_n</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a11c1d0b020939336d79bf083ba84357c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>z_c</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a00ea5a575125ee18232917a50e6d513c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>z_n</name>
      <anchorfile>demo__kinematic__intermed__cyl_8cpp.html</anchorfile>
      <anchor>a3e2aac7de8fa28ceabad702893d5ef52</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>draw_bodies.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/hrl_software_simulation_darpa_m3/</path>
    <filename>draw__bodies_8py</filename>
    <class kind="class">hrl_software_simulation_darpa_m3::draw_bodies::DrawAll</class>
    <namespace>hrl_software_simulation_darpa_m3::draw_bodies</namespace>
    <member kind="variable">
      <type>tuple</type>
      <name>draw_stuff</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1draw__bodies.html</anchorfile>
      <anchor>a78326b5a5a076435caeb2cce341e08c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>gen_sim_arms.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/hrl_software_simulation_darpa_m3/</path>
    <filename>gen__sim__arms_8py</filename>
    <class kind="class">hrl_software_simulation_darpa_m3::gen_sim_arms::ODESimArm</class>
    <class kind="class">hrl_software_simulation_darpa_m3::gen_sim_arms::RobotSimulatorKDL</class>
    <namespace>hrl_software_simulation_darpa_m3::gen_sim_arms</namespace>
    <member kind="variable">
      <type>tuple</type>
      <name>ode_arm</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1gen__sim__arms.html</anchorfile>
      <anchor>a76e013784d94f6356bd415f5478e9632</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>test_jep</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1gen__sim__arms.html</anchorfile>
      <anchor>ad28be7916cbc4778ab577ecd265034cc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>ode_sim_arms.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/hrl_software_simulation_darpa_m3/deprecated/</path>
    <filename>ode__sim__arms_8py</filename>
    <class kind="class">ode_sim_arms::ODESimArm</class>
    <class kind="class">ode_sim_arms::RobotSimulatorKDL</class>
    <namespace>ode_sim_arms</namespace>
    <member kind="variable">
      <type>tuple</type>
      <name>ode_arm</name>
      <anchorfile>namespaceode__sim__arms.html</anchorfile>
      <anchor>a338f09abf48f46ac1e3e4e547db0c7c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>test_jep</name>
      <anchorfile>namespaceode__sim__arms.html</anchorfile>
      <anchor>a1163aa8fd692695f4d60437b66e00dea</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sim_arm_param_upload.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/hrl_software_simulation_darpa_m3/</path>
    <filename>sim__arm__param__upload_8py</filename>
    <namespace>hrl_software_simulation_darpa_m3::sim_arm_param_upload</namespace>
    <member kind="function">
      <type>def</type>
      <name>upload_to_param_server</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</anchorfile>
      <anchor>ad291aee3c7bc625e829622d956c327fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>dest</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</anchorfile>
      <anchor>ab1891730908cc5683e573e064d7ef60c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>p</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</anchorfile>
      <anchor>aeb59e93567c6d5bdbad6ed12346818ae</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>simulator.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/</path>
    <filename>simulator_8cpp</filename>
    <includes id="simulator_8h" name="simulator.h" local="yes" imported="no">simulator.h</includes>
    <member kind="function">
      <type>double</type>
      <name>get_wall_clock_time</name>
      <anchorfile>simulator_8cpp.html</anchorfile>
      <anchor>a21e5118fa1b2489f1b039a2ca21aab35</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>simulator_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>simulator.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/include/</path>
    <filename>simulator_8h</filename>
    <class kind="struct">MyFeedback</class>
    <class kind="class">Simulator</class>
  </compound>
  <compound kind="file">
    <name>tune_gains_sim.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-gt-ros-pkg/doc_stacks/2013-11-27_11-23-35.692702/hrl-haptic-manip/hrl_software_simulation_darpa_m3/src/</path>
    <filename>tune__gains__sim_8cpp</filename>
    <includes id="simulator_8h" name="simulator.h" local="yes" imported="no">simulator.h</includes>
    <member kind="function">
      <type>double</type>
      <name>get_wall_clock_time</name>
      <anchorfile>tune__gains__sim_8cpp.html</anchorfile>
      <anchor>a21e5118fa1b2489f1b039a2ca21aab35</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>tune__gains__sim_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>MyFeedback</name>
    <filename>structMyFeedback.html</filename>
    <member kind="variable">
      <type>dJointFeedback</type>
      <name>fb</name>
      <anchorfile>structMyFeedback.html</anchorfile>
      <anchor>abc3ba61d628f80459f70411b96096451</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Simulator</name>
    <filename>classSimulator.html</filename>
    <member kind="function">
      <type>void</type>
      <name>BaseEpCallback</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af8cd6aee6244adc19b8d049fc7a8fbd9</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calc_torques</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a1acf79481c1853dd9ed49b6b62445e52</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>classCallback</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aa2b0019bfaa2825597b3cc1178c9cf5d</anchor>
      <arglist>(dGeomID o1, dGeomID o2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a30c92608da88490222914ca7e2a0a6df</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_compliant_obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ae5e3869fc2c9422a7185669f72a25ee5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_fixed_obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a2db660f53e48800db3eefa2b7c97d8f0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_movable_obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a65b31fac41bf6f56b990eae81c6a17c8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_robot</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a787cb0d2d47655ab6e179b68673be683</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>get_dist</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af26e42ce665f6efd9df23f9c5fe4fe47</anchor>
      <arglist>(double x1, double y1, double x2, double y2, double radius)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>get_joint_data</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a64857e13b4886ab75160bce059e61877</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>go_initial_position</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af9ef2f70fe18d73f4ad14a4cb4069d9b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>ImpedanceCallback</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a50654dde3bb5ca9782464f25f2b577f8</anchor>
      <arglist>(const hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inner_torque_loop</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a8d87d0409eb60429f6d842e9b74fbc7d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>JepCallback</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>adf17d81784f2858bec45183a30174dcb</anchor>
      <arglist>(const hrl_msgs::FloatArrayBare msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publish_angle_data</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ab7e0f1896b506ceeccf5c58b63bbc605</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publish_imped_skin_viz</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a100d8d53ba4a2789c5165c93c58a413a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sense_forces</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a92adc2d41363c05e6946f3cd5495a042</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_torques</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a3e1baccbc14fc9cb37ac66abb9193156</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setup_current_taxel_config</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a66f3bf5229b92128913204bf557e88f4</anchor>
      <arglist>(hrl_haptic_manipulation_in_clutter_msgs::TaxelArray &amp;taxel)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Simulator</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>abee9ab65a0efc8f59e319c68e94e402b</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_friction_and_obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ad521dfd12599f774c4e5989e30a2b26c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_linkage_viz</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ac7427a478e958b8c0891675fd25110d4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_proximity_simulation</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ae4abc425fdb87e585d61ca1d7f5a7022</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_taxel_simulation</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ab7a89d53800e2dab042659aa6325820b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Simulator</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a0f49aa04f42060a785adf77346b9de9f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>nearCallback</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a1d8e7e7210f14980d8bdefe8c5e8a21e</anchor>
      <arglist>(void *data, dGeomID o1, dGeomID o2)</arglist>
    </member>
    <member kind="variable">
      <type>ros::Publisher</type>
      <name>clock_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a9fa73ccfad23c87f59c1e5971a32ae0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>cur_time</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a256c26091b15e9cc87963501f0cea621</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dSimpleSpace</type>
      <name>space</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ab76dc25c1b5c9e6e851a2d07df479707</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>dWorld</type>
      <name>world</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aac46c7b694c2295449b8fe8d40d3e5c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const dReal</type>
      <name>timestep</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a07b5833d3f42434ea46bb3cc59247c40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_msgs::FloatArrayBare</type>
      <name>angle_rates</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a2f9605777aa825e221283f13e3318d63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>angle_rates_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a2719329fa7b5b88692587a0729a7c62b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_msgs::FloatArrayBare</type>
      <name>angles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a3faae211971a253698bf42a4a8f817f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>angles_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a0749581c9060060a028c5c95e6ff1227</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dSliderJoint</type>
      <name>base_pris_jts</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a66f3a416c0db7a2eb15998cc56e2c752</anchor>
      <arglist>[MAX_NUM_PRISM]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dHingeJoint</type>
      <name>base_rev_jts</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ae6004b3e4a7c175045968d87168325a9</anchor>
      <arglist>[MAX_NUM_REV]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>bodies_draw</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>afbb8a467a3cf1d7c111dcf50ff5067db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBody *</type>
      <name>body_mobile_base</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a7b55775e14ee87797b31b7d413f1a128</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBody</type>
      <name>compliant_obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>afce7749c58515b24881d04fdd78f70fd</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dJointID</type>
      <name>compliant_plane2d_joint_ids</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a620bc388408172fec2c046541626662b</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_haptic_manipulation_in_clutter_msgs::BodyDraw</type>
      <name>draw</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ae73f9902d9e455be60b2d926393e813e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBody *</type>
      <name>env</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a10c2e7bdff4fc6f5aee76e0b9776b113</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>fbnum</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>abaa181f2900c007761c4cd315bcd5a6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MyFeedback</type>
      <name>feedbacks</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ada3f0f0b112389d632e1e34754a96daf</anchor>
      <arglist>[MAX_FEEDBACKNUM]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dFixedJoint *</type>
      <name>fixed_joint</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a4e806bd41b1836449effabfedfee4ffd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dJointID</type>
      <name>fixed_joint_ids</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ab64760765ef6a89eb580e24aff6932d0</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBodyID</type>
      <name>fixed_obst_ids</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ad6ddbba0afea7123d59e069ff75ef869</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBody</type>
      <name>fixed_obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af27239b41c63b45b586385a931cb02a0</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>force_group</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a0e381f53daa53c2f47165627bcc10ad1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>force_grouping</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aefb2df8cd3d8916606fe9a01a760e52c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
      <name>force_sign</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ac9164343a41d40e4dc2f0b6001348f29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_haptic_manipulation_in_clutter_msgs::TaxelArray</type>
      <name>force_taxel</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a32e5a771ac920120ce33d0089527bb61</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>force_taxel_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a4b2b987da2cb13d424f8ca1a54336616</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MyFeedback</type>
      <name>frict_feedbacks</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a10926af900fb462cec4201449ba31b72</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBox</type>
      <name>g_link_box</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ad60495ddba5c54bace9a33ceb60c4135</anchor>
      <arglist>[100]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dCapsule</type>
      <name>g_link_cap</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aa2fdece173d20dc45fca8779f4a8bc79</anchor>
      <arglist>[100]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBox *</type>
      <name>geom_mobile_base</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aba9462ec4c6599241c99df06e97a2de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>imped_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a47313a564e8bafef52121f09dd92b38b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_haptic_manipulation_in_clutter_msgs::MechanicalImpedanceParams</type>
      <name>impedance_params</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a1527b066659566227ce5cf50b40737f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>jep</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a5204b76f5af27e23e292ba0dedaf2484</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>jep_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aa0f0813aa70ccc80cd578bf07cc7bcf0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_msgs::FloatArrayBare</type>
      <name>jep_ros</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a5eb7284870a4d4785e67cb5a37d35387</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dJointGroup</type>
      <name>joints</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a0408b2e27ea89e1996aee22f645a40cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dContactJoint *</type>
      <name>jt_contact</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>adbbb42d7ff0f0dc04869c06bb221c973</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>k_d</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a93048bc98e822103a6d4c32c3a6818be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>k_p</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aca43a4222805f08604c7bb35f6dad759</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBodyID</type>
      <name>link_ids</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a5d945ce793803e73efcae09fef327780</anchor>
      <arglist>[100]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBody</type>
      <name>links_arr</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a7efaef2ec84943390361958eaca1d85d</anchor>
      <arglist>[100]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>links_dim</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>afb724fb6356c8833b6d27f8cbea10050</anchor>
      <arglist>[100][3]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>links_shape</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a0c7b9e910a44750870f658726e6f14ce</anchor>
      <arglist>[100]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>m</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af0b1676487ea1041522f5e214a0133c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dSliderJoint</type>
      <name>manip_pris_jts</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a1d1488ede8e4844299bf598680fcabbc</anchor>
      <arglist>[MAX_NUM_PRISM]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dHingeJoint</type>
      <name>manip_rev_jts</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a17c5850a57dd6c752572a743d4edf8de</anchor>
      <arglist>[MAX_NUM_REV]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_friction</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ab8e015c62417a9d38132477e1c7752d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_tor_friction</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aaf4e102f9cba3c27e33bb5eba2aa1835</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dJointID</type>
      <name>mobile_base_plane2d_jt_id</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aab8f3d1f18ce0f924444508033fab7fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ae79d23d8f29e5443b0321d250a3f37c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_jts</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a7f2d9b4e333535694753caa3faa0817d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_links</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ab62fa4d6371b07701f71075a4477ce1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_used_compliant</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a52141c406a2b6cd3a5c0892ac9d98be2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_used_fixed</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a3a8bb6bd8e77b27f1a62018f949a61e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_used_movable</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>acfb13f23bd39535743406beb6fd1ca09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>obst_damping</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aec3a599523ad07462f4c638db336fd94</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>obst_home</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a604159ca105ad556c47b83fc25cb7d7e</anchor>
      <arglist>[NUM_OBST][3]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>obst_stiffness</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a48dfdc598e43b555405074cfa9c727be</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dBody</type>
      <name>obstacles</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a36c1b4079b0fe8d7a72aee25df7a0016</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dJointID</type>
      <name>plane2d_joint_ids</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a2259b93bf742dd305337e4de32f667ec</anchor>
      <arglist>[NUM_OBST]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_haptic_manipulation_in_clutter_msgs::TaxelArray</type>
      <name>proximity_taxel</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a511417dadd6ce6d95267016a3ee4285b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>proximity_taxel_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a8a1b786a144937322a6a1ad4812fe136</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_x</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af479995f83831975776654136c97d746</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_y</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>acff4651e58f8ca95ce7e5056e965e84f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>pt_z</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a53fba86176ebaa76a1581601d033e558</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>q</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a28e84a0d34c54ecc4e303e5cada119de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>q_dot</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a298da4d9f0dfe3c893f1900cab4129dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>resolution</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a2a145acc3142202621b5e277b6019132</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>hrl_haptic_manipulation_in_clutter_msgs::SkinContact</type>
      <name>skin</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>aad93196c374c5e7a966b6c7f1f759ca2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>skin_pub</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a46053890362c90b3fa74674e3c25c83f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dSliderJoint *</type>
      <name>slider_x</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a45d8927088b5aecc9445db7c18ec2985</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>dSliderJoint *</type>
      <name>slider_y</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>ac50876700a3f2fbf93449344076d62b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>torques</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a6ec2e891a09949be4f9666325ed2221a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>use_prox_sensor</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a491ef4a7d309aa5005a421a319d15170</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>x_c</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a23de50aa43bcb5190f29ca2bfdde2719</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>x_n</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a6c3371cb68b03910abf8a1debb10fa69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>y_c</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a979fbaacde4558688553c7812580d015</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>y_n</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a068f745d69176b36204c27afdf2f4771</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>z_c</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>a6900609ced35a0b9f9b2a6de4f144722</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>z_n</name>
      <anchorfile>classSimulator.html</anchorfile>
      <anchor>af637ee426d1b33a40e652a59941dbd79</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>hrl_software_simulation_darpa_m3</name>
    <filename>namespacehrl__software__simulation__darpa__m3.html</filename>
    <namespace>hrl_software_simulation_darpa_m3::draw_bodies</namespace>
    <namespace>hrl_software_simulation_darpa_m3::gen_sim_arms</namespace>
    <namespace>hrl_software_simulation_darpa_m3::sim_arm_param_upload</namespace>
  </compound>
  <compound kind="namespace">
    <name>hrl_software_simulation_darpa_m3::draw_bodies</name>
    <filename>namespacehrl__software__simulation__darpa__m3_1_1draw__bodies.html</filename>
    <class kind="class">hrl_software_simulation_darpa_m3::draw_bodies::DrawAll</class>
    <member kind="variable">
      <type>tuple</type>
      <name>draw_stuff</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1draw__bodies.html</anchorfile>
      <anchor>a78326b5a5a076435caeb2cce341e08c8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>hrl_software_simulation_darpa_m3::draw_bodies::DrawAll</name>
    <filename>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a651e60f577b7016083d3ff0aaa5e7817</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>bodies_callback</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a86f36c49ce59f306b8d86c71a987ad1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>draw_bodies</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a467039d5285f3c5e37b708826e9837db</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_goal_marker</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a539040b59a3f4bb66d2e3ed48866fa31</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>active_jts</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>af4d62ad4cad1c1f7945a99d8ab27140a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color_active</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a7086bef402e53304d987bd36b20fa95a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color_limit</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a3bb462aec62c46d5d97452aca57f2d7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color_links</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a23e8e4119c6b7b5b9d744a4e9907b8d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>color_passive</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a801f8c13a891c8321513ab767f5501f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>compliant_dimen</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>aab673b0ee9143b85c472a9b66bac7778</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>constr_jts</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>ae5b465a3ee06e3697d3636e94cd6e03c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>draw_links</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a2f8a566163f16696178e0d3b61683da5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>draw_obstacles</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a290412b79a7e2879dccd1924815ee9e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fixed_ctype</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a91d7279c143bdf8115c1450fa6301b65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>fixed_dimen</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a2f350bbcf17926258d1fc6b477d619a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>goal</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a22f6b6a702339451038f7eea7e39c8a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>goal_marker_pub</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>af81652b434ec30722f6a732f610a1896</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>joints_pos</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>afbdd9b78573294a36c9a80f5b6c7ddbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>links_dim</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>afbea7ed5c0524ce03821b03b75d37714</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>links_pos</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a1763898aef4d668a8debcd7bddc20e5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>links_rot</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a32a550e133ea1ca6b34599e9fd7abd10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>links_shape</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a2d518bb8fb5b058a74cf8ea600250e4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lock</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a5d5264168200abe242a567892c2f2c06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>movable_ctype</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a4b197b0fd24fa4102f81688737b46b18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>movable_stiffness</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>af94bdd26b0ec97b81430c2954b357e47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>moveable_dimen</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>aafb288c06ef288f789355d39d170f285</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_compliant</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>af8a2416322de391e57d940bb1a48d251</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_fixed</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>abbf4ee4dc48168f362565597cddfb58e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_links</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>ad66949c31701adb93cbffc57001b70b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_moveable</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a706926dcc28c079dc9634d1af1f2904e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_tot</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a3f5a9e1ddd9d93834b35cb887e12bd94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>obst_pos</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>a03a87c4dd16f0765777db04dcdeb6fd5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>obst_rot</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1draw__bodies_1_1DrawAll.html</anchorfile>
      <anchor>ab258ce7449584fb49e56a492943773ef</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>hrl_software_simulation_darpa_m3::gen_sim_arms</name>
    <filename>namespacehrl__software__simulation__darpa__m3_1_1gen__sim__arms.html</filename>
    <class kind="class">hrl_software_simulation_darpa_m3::gen_sim_arms::ODESimArm</class>
    <class kind="class">hrl_software_simulation_darpa_m3::gen_sim_arms::RobotSimulatorKDL</class>
    <member kind="variable">
      <type>tuple</type>
      <name>ode_arm</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1gen__sim__arms.html</anchorfile>
      <anchor>a76e013784d94f6356bd415f5478e9632</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>test_jep</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1gen__sim__arms.html</anchorfile>
      <anchor>ad28be7916cbc4778ab577ecd265034cc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>hrl_software_simulation_darpa_m3::gen_sim_arms::ODESimArm</name>
    <filename>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</filename>
    <base>equilibrium_point_control::hrl_arm::HRLArm</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>aa061692fa934b7eda6ffe86db0526e45</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_joint_velocities</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>aa7f83ba77928ac2037a998c3e8dfd9d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>impedance_params_cb</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>af5a94062255137c55631d3a09939dd0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jep_cb</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a2191623d22a4f72d7ba0ba2d63b73c56</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>joint_rates_cb</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a6050c87ddf42126f03173f84b9e80b95</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>joint_states_cb</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a2e74189b25dce9dc0fbe6ba997fe8597</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_rviz_markers</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a6057f11521562e39168d81a3e21b0c71</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_delta_ep_ros</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a31c15e0a9ce293481ce8be2d0293eb59</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_ep</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a8bec391fed69ac55053d65697eead027</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_joint_impedance</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a5eed3e7e8258da7c0b145919e60f7b85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cep_marker_pub</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>abcc5e9f714ae5410fe4de12feec3fc2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ep</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>ae0674ac112876959d4421060604a9f14</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>impedance_pub</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>af990a59891d29852f899ea8d38884dbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>jep_pub</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a6080869969b06015914d9d5305ed7820</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kd</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a89ee4aa457b2a054c7a6abe1951af952</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kp</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a355e03bbc14d822431e671a4a6989f79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a77b0b1537388a5e15de8f92ccedc2c95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qdot</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a0ddf2e3977b143ed57cf404809e101e0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>hrl_software_simulation_darpa_m3::gen_sim_arms::RobotSimulatorKDL</name>
    <filename>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ae5363fb47cb4c994eb1ba3f6879d8a31</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>clamp_to_joint_limits</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a980d103fc330374a246ae9f49f0ae900</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>create_right_chain</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>aebe802c2e2459102bc48daa0288d7987</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>create_solvers</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a4da0566f28fd3748b2b79f17995a4be6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>FK_kdl</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a79efd6e35f17625a350a3bba42e9cd93</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>FK_vanilla</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a931d62fd7e37977aa9a057c2e316ccb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_joint_limits</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a80c59eae00b007e68db31ff24710b73f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jacobian</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ada69acd83900715d367e6c874aedac9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>kdl_to_list</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>aa0597ae4e03fb1f2772d1570fe92f41f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>list_to_kdl</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ac97edd74c9895f5bdec36eae5a396cf9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plot_arm</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a8a4355576a6c50bfee7a3430eaaabfbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>within_joint_limits</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a009c2562b9f8a0942e2571e398c77daf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>arm_type</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>af9a22cd4307b31258cf63edcad0bf79b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>d_robot</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a14eae7186af970658282b45742a8a36c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linkage_offset_from_ground</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a1225e7e7e4b5dda73610730f292182a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_jtlim_arr</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a4a3f59210f0c83bffeec4bd5973db67e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_jtlim_arr</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>af4df87d63a86fd073737a8df7b5c38a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>n_jts</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ade60ab54c345b3b04df1ca35f9ba6969</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_chain</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>abd90dd843a13e9527ab71251f88e76d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_fk</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>afda92778cc104dd169373d71e63c0fa3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_ik_p</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a71adf799a62ff0e1344180e65917b7ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_ik_v</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a783c8425cfc377bff37e8472aa8bdee4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_jac</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ae492e20a32a2e90f7f4d5bb7125acaf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_tooltip</name>
      <anchorfile>classhrl__software__simulation__darpa__m3_1_1gen__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ae94b368105e0ea0a96fe8959705bb6e4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>hrl_software_simulation_darpa_m3::sim_arm_param_upload</name>
    <filename>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</filename>
    <member kind="function">
      <type>def</type>
      <name>upload_to_param_server</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</anchorfile>
      <anchor>ad291aee3c7bc625e829622d956c327fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>string</type>
      <name>dest</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</anchorfile>
      <anchor>ab1891730908cc5683e573e064d7ef60c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>p</name>
      <anchorfile>namespacehrl__software__simulation__darpa__m3_1_1sim__arm__param__upload.html</anchorfile>
      <anchor>aeb59e93567c6d5bdbad6ed12346818ae</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ode_sim_arms</name>
    <filename>namespaceode__sim__arms.html</filename>
    <class kind="class">ode_sim_arms::ODESimArm</class>
    <class kind="class">ode_sim_arms::RobotSimulatorKDL</class>
    <member kind="variable">
      <type>tuple</type>
      <name>ode_arm</name>
      <anchorfile>namespaceode__sim__arms.html</anchorfile>
      <anchor>a338f09abf48f46ac1e3e4e547db0c7c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>tuple</type>
      <name>test_jep</name>
      <anchorfile>namespaceode__sim__arms.html</anchorfile>
      <anchor>a1163aa8fd692695f4d60437b66e00dea</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ode_sim_arms::ODESimArm</name>
    <filename>classode__sim__arms_1_1ODESimArm.html</filename>
    <base>equilibrium_point_control::hrl_arm::HRLArm</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a973af27689ebc0fd001423733815902f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_joint_impedance</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a1db6028b7197abd751f56c02b3a24d7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_joint_velocities</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a97aa451b90c934ec5ff8d035607e83cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>impedance_params_cb</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>aae14c535452263f2c09b523ffe39a035</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>jep_cb</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a7b5c917ed73ac1d7bce8740a7548d5a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>joint_rates_cb</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>ab6f7ed5349dbcf86ae826a976306db50</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>joint_states_cb</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a1ff92989980b20485c703692a18536ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_rviz_markers</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a978647fa5e8b7a8d5850ac9f5a66a152</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_ep</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a42718119a7b3f30b6f9f3c6e1ff355a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>set_joint_impedance</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a4306978f490a190dcc3424d7d1654fa0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cep_marker_pub</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a57da0e9c9865da24b550962f79f5abae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ep</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a207fdc192a865bbd5e1a86a56024f359</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>impedance_pub</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>af785b1a1217666ea4e46ac45f813c855</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>jep_pub</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>ab58673c9509870439fdcbf4bef16beaa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kd</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a68a2bf9eaeb95b5225c7b94ac4c1d1b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kp</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a9ceb60379e17390f22f21c8ebdaab199</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>q</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>aed6e9068ae4f4d0a8844d3c0d4774a93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>qdot</name>
      <anchorfile>classode__sim__arms_1_1ODESimArm.html</anchorfile>
      <anchor>a7367952aa4683d8e381f40753af86903</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ode_sim_arms::RobotSimulatorKDL</name>
    <filename>classode__sim__arms_1_1RobotSimulatorKDL.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a5e86fb8ba06fc5848b4ffe718e8600af</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>clamp_to_joint_limits</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>aac0852b7d5b91c72af085ba6b482323f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>create_right_chain</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ae5b9bc9ac57ea29f6775ab4d05ea32f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>create_solvers</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a52863a23046d04fcf59aec2fb0620dcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>FK_kdl</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a8c34792560aeb7f45e037cbb6eccb271</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>FK_vanilla</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ac833f3bc1e5f03c901c60286d0585522</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_joint_limits</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a679a0e5710a1aa35b3784c089db37819</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>Jacobian</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ade4230b0ce39b1f8c36aef06242e837c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>kdl_to_list</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>abf722458fa31375fc3e1875c88b873b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>list_to_kdl</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>af8298f6d6dce32a60db100f8f7bd564c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>plot_arm</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a7a5f06ecc0bbcc278d5f402c8313a47b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>within_joint_limits</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a0fa91fc2d73b2e8b0abadcabb3f7f86d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linkage_offset_from_ground</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>aac024498630a1975f1ea54c2b28c881e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_jtlim_arr</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a24e8bc9250a89702d9cfae428eaba05d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_jtlim_arr</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a47dee00eeabc7961f26eb9cca90802f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>n_jts</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a9b27ab271a3eada79184e60bd747b9c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_chain</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a575b07f0654cc3d8ba285fb3f19e2ed7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_fk</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>ab63cb2131132aec86eddae430286a8d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_ik_p</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a357b3bddfab7be038ea25f4aeeb77bb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_ik_v</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a21946f75b45ebc312b7b45b5dfa090fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_jac</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a45224151673449ce5fe6770cad312a88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>right_tooltip</name>
      <anchorfile>classode__sim__arms_1_1RobotSimulatorKDL.html</anchorfile>
      <anchor>a71d0fc876d4fa160ae26d364ef298d5e</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
