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    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
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    <member kind="function">
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      <name>searchPositionIK</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const </arglist>
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    <member kind="function">
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      <name>setRedundantJoints</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const std::vector&lt; unsigned int &gt; &amp;redundant_joint_indices)</arglist>
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      <type>void</type>
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      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const std::map&lt; int, double &gt; &amp;discretization)</arglist>
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      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a9e75e01cb761065493dbd319673c453c</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getCount</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(int &amp;count, const int &amp;max_count, const int &amp;min_count) const </arglist>
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      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>void</type>
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      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, int i, std::vector&lt; double &gt; &amp;solution) const </arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a9fd9845f1c6f6004f28035bbf471edd7</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, const std::vector&lt; double &gt; &amp;ik_seed_state, int i, std::vector&lt; double &gt; &amp;solution) const </arglist>
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    <member kind="function" protection="protected">
      <type>double</type>
      <name>harmonize</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution) const </arglist>
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      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(const std::string &amp;robot_description, const std::string &amp;group_name, const std::string &amp;base_name, const std::string &amp;tip_name, double search_discretization)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>sampleRedundantJoint</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a401c53e17288fb21d6de8e0853767aa7</anchor>
      <arglist>(kinematics::DiscretizationMethod method, std::vector&lt; double &gt; &amp;sampled_joint_vals) const </arglist>
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    <member kind="function" protection="protected">
      <type>int</type>
      <name>solve</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a32a7c7b80865eac0970d50e9e98e299a</anchor>
      <arglist>(KDL::Frame &amp;pose_frame, const std::vector&lt; double &gt; &amp;vfree, IkSolutionList&lt; IkReal &gt; &amp;solutions) const </arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <type>std::vector&lt; int &gt;</type>
      <name>free_params_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; bool &gt;</type>
      <name>joint_has_limits_vector_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a18c0ebfb4f86e3a01a6ffe041fa2fa2c</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; double &gt;</type>
      <name>joint_max_vector_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a64a84438adf06c8be5eec20517e8651d</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; double &gt;</type>
      <name>joint_min_vector_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ad4fb21703bfba778ceb6dbe400f19adf</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a6e0cd496f41dc0060525e4bcb941af0e</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; std::string &gt;</type>
      <name>link_names_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a9947e4faebbab2e3095a3e3a26f4d09f</anchor>
      <arglist></arglist>
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      <type>size_t</type>
      <name>num_joints_</name>
      <anchorfile>classkr6__r900__workspace__ikfast__manipulator__plugin_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a69a1090fb7a84ee5bd592fde0580066c</anchor>
      <arglist></arglist>
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    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>IkSingleDOFSolutionBase</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>aa3c37c6e9a4903f1303893e966260789</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>T</type>
      <name>fmul</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>adb64a33a2ce7357684c9c89d75cacd0c</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>T</type>
      <name>foffset</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a1d5900ae9cb2d55c396b995b976fdcef</anchor>
      <arglist></arglist>
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      <type>signed char</type>
      <name>freeind</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>adca245b0afa4133dddbd10803053bc2a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned char</type>
      <name>indices</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
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      <arglist>[5]</arglist>
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    <member kind="variable">
      <type>unsigned char</type>
      <name>jointtype</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned char</type>
      <name>maxsolutions</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>ikfast::IkSolution</name>
    <filename>classikfast_1_1IkSolution.html</filename>
    <templarg></templarg>
    <base>ikfast::IkSolutionBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual const int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a8d46fe7ed5a582f9ad3f4bfc86b41297</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const std::vector&lt; int &gt; &amp;</type>
      <name>GetFree</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a31267c02ff31436b0bfe3672bcecce5e</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a197868105dffb498bec69c38318283a2</anchor>
      <arglist>(T *solution, const T *freevalues) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a56a7305f2111808478f85a43ecc5e6aa</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolutionIndices</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ae6b77cab94b40369712a099cc21d42e8</anchor>
      <arglist>(std::vector&lt; unsigned int &gt; &amp;v) const </arglist>
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    <member kind="function">
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      <name>IkSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a6b76af506a24ba4b78b1c9d3dc110a72</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Validate</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="variable">
      <type>std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt;</type>
      <name>_vbasesol</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a823a44ea0a199929967ce1646792a50c</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; int &gt;</type>
      <name>_vfree</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist></arglist>
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    <templarg>T</templarg>
    <member kind="function" virtualness="pure">
      <type>virtual const int</type>
      <name>GetDOF</name>
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      <arglist>() const =0</arglist>
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      <name>GetFree</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>(T *solution, const T *freevalues) const =0</arglist>
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      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>a2b558f7a29be0868cff3e81fbd9594c4</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~IkSolutionBase</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
      <anchor>ae40e464cdbc474388cc7d55560ec44f9</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>ikfast::IkSolutionList</name>
    <filename>classikfast_1_1IkSolutionList.html</filename>
    <templarg>T</templarg>
    <base>ikfast::IkSolutionListBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
      <anchor>ac0a503b13e68403e7b2d92afd4c28a7b</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Clear</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>GetNumSolutions</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
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      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>(size_t index) const </arglist>
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    <member kind="variable" protection="protected">
      <type>std::list&lt; IkSolution&lt; T &gt; &gt;</type>
      <name>_listsolutions</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <templarg>T</templarg>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>()=0</arglist>
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      <name>GetNumSolutions</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>(size_t index) const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~IkSolutionListBase</name>
      <anchorfile>classikfast_1_1IkSolutionListBase.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>ComputeIk</name>
      <anchorfile>classIKSolver.html</anchorfile>
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      <arglist>(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>rotationfunction0</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a139a62477d8d27e5a5dace907f0b38b0</anchor>
      <arglist>(IkSolutionListBase&lt; IkReal &gt; &amp;solutions)</arglist>
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      <type>static void</type>
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      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a16a33b8d7de25af06070fb7c55e80bb1</anchor>
      <arglist>(IkReal rawcoeffs[2+1], IkReal rawroots[2], int &amp;numroots)</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>polyroots3</name>
      <anchorfile>classIKSolver.html</anchorfile>
      <anchor>a46a898ea503f9399df84df127f7f84eb</anchor>
      <arglist>(IkReal rawcoeffs[3+1], IkReal rawroots[3], int &amp;numroots)</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
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