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      <arglist>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 7 &gt; &amp;dq, const std::array&lt; double, 9 &gt; &amp;I_total, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal) const noexcept</arglist>
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      <arglist>(const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 9 &gt; &amp;I_total, double m_total, const std::array&lt; double, 3 &gt; &amp;F_x_Ctotal) const noexcept</arglist>
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      <arglist>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const </arglist>
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      <arglist>(Frame frame, const franka::RobotState &amp;robot_state) const </arglist>
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      <arglist>(Frame frame, const std::array&lt; double, 7 &gt; &amp;q, const std::array&lt; double, 16 &gt; &amp;F_T_EE, const std::array&lt; double, 16 &gt; &amp;EE_T_K) const </arglist>
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      <arglist>() noexcept</arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::string &amp;franka_address, RealtimeConfig realtime_config=RealtimeConfig::kEnforce, size_t log_size=50)</arglist>
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      <arglist>() noexcept</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; JointPositions(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; JointVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; CartesianPose(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; CartesianVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; JointPositions(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; JointVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; CartesianPose(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; CartesianVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, ControllerMode controller_mode=ControllerMode::kJointImpedance, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_acceleration, const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds_nominal, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_acceleration, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds_nominal, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds_nominal)</arglist>
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      <arglist>(const std::array&lt; double, 7 &gt; &amp;lower_torque_thresholds, const std::array&lt; double, 7 &gt; &amp;upper_torque_thresholds, const std::array&lt; double, 6 &gt; &amp;lower_force_thresholds, const std::array&lt; double, 6 &gt; &amp;upper_force_thresholds)</arglist>
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      <arglist>(const std::array&lt; double, 7 &gt; &amp;K_theta)</arglist>
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      <arglist>(const std::array&lt; double, 6 &gt; &amp;K_x)</arglist>
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      <arglist>(const std::array&lt; bool, 6 &gt; &amp;guiding_mode, bool elbow)</arglist>
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      <arglist>(const std::array&lt; double, 16 &gt; &amp;EE_T_K)</arglist>
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      <arglist>(const std::array&lt; double, 16 &gt; &amp;F_T_EE)</arglist>
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      <arglist>(double load_mass, const std::array&lt; double, 3 &gt; &amp;F_x_Cload, const std::array&lt; double, 9 &gt; &amp;load_inertia)</arglist>
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      <arglist>(double joint_position_filter_frequency, double joint_velocity_filter_frequency, double cartesian_position_filter_frequency, double cartesian_velocity_filter_frequency, double controller_filter_frequency)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; JointPositions(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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      <arglist>(std::function&lt; Torques(const RobotState &amp;, franka::Duration)&gt; control_callback, std::function&lt; JointVelocities(const RobotState &amp;, franka::Duration)&gt; motion_generator_callback, bool limit_rate=true, double cutoff_frequency=kDefaultCutoffFrequency)</arglist>
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