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      <arglist>(float f)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>IKsqr</name>
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      <anchor>a95d600e8b1f9ee1b1f0d8919b31f1ce0</anchor>
      <arglist>(double f)</arglist>
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    <member kind="function">
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      <arglist>(float f)</arglist>
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    <member kind="function">
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      <arglist>(double f)</arglist>
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    <member kind="function">
      <type>float</type>
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      <anchorfile>prbt__manipulator__ikfast__solver_8cpp.html</anchorfile>
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      <arglist>(float f)</arglist>
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    <member kind="function">
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      <arglist>(double f)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>prbt__manipulator__ikfast__solver_8cpp.html</anchorfile>
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      <arglist>(int argc, char **argv)</arglist>
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  <compound kind="struct">
    <name>prbt_manipulator::CheckValue</name>
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    <templarg></templarg>
    <member kind="variable">
      <type>bool</type>
      <name>valid</name>
      <anchorfile>structprbt__manipulator_1_1CheckValue.html</anchorfile>
      <anchor>a235fc3d3a1a36a533d264289fc93474f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>T</type>
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      <anchorfile>structprbt__manipulator_1_1CheckValue.html</anchorfile>
      <anchor>af7b4e51f5f7f4215d8063409c9a5ab73</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>valid</name>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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    <templarg></templarg>
    <member kind="typedef">
      <type>void(*</type>
      <name>ComputeFkFn</name>
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      <arglist>)(const T *, T *, T *)</arglist>
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    <member kind="typedef">
      <type>bool(*</type>
      <name>ComputeIkFn</name>
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      <anchor>aed283615c59d1cf876a7640a7b245a4b</anchor>
      <arglist>)(const T *, const T *, const T *, IkSolutionListBase&lt; T &gt; &amp;)</arglist>
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    <member kind="typedef">
      <type>int *(*</type>
      <name>GetFreeParametersFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>const char *(*</type>
      <name>GetIkFastVersionFn</name>
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      <anchor>a506e08d11f3fe023f06ebaf728ec613b</anchor>
      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>int(*</type>
      <name>GetIkRealSizeFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a4430676454369afb285aead8a6a4e6c6</anchor>
      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>int(*</type>
      <name>GetIkTypeFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a913b447c96c988e2df6a55ad5c7223b2</anchor>
      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>const char *(*</type>
      <name>GetKinematicsHashFn</name>
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      <anchor>a49a06e74f228f1bde7e1279cc6da38e4</anchor>
      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>int(*</type>
      <name>GetNumFreeParametersFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a58ce4fc02928e9474fb07879df050b3d</anchor>
      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>int(*</type>
      <name>GetNumJointsFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a1c8f833a979943fcd89ab3bbb559ed3c</anchor>
      <arglist>)()</arglist>
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    <member kind="function">
      <type></type>
      <name>IkFastFunctions</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>ae5fdd9b86135849b887ae95f8abdfcee</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~IkFastFunctions</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a811179abadd14264edd35248914e65bd</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>ComputeFkFn</type>
      <name>_ComputeFk</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a5a30a89afe6314eb86a05c3bd5a1a303</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>ComputeIkFn</type>
      <name>_ComputeIk</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a75775a9a8c284f52cb6cc473c434163c</anchor>
      <arglist></arglist>
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      <type>GetFreeParametersFn</type>
      <name>_GetFreeParameters</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a2c57255d31921839afb1ed5c5f86c7cc</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>GetIkFastVersionFn</type>
      <name>_GetIkFastVersion</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a1deac46b905d3d6fa2186e4fb52a75a4</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>GetIkRealSizeFn</type>
      <name>_GetIkRealSize</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a6e0b57e5123af02f5d27c894eac23181</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>GetIkTypeFn</type>
      <name>_GetIkType</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a22b3424efa52b1c611ad6ec426259aca</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>GetKinematicsHashFn</type>
      <name>_GetKinematicsHash</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>a838b34f459abceb7b0f537ad3d4f834b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>GetNumFreeParametersFn</type>
      <name>_GetNumFreeParameters</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>ac78c6f4a428df5b34944510af3abd68f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>GetNumJointsFn</type>
      <name>_GetNumJoints</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
      <anchor>aa7aadc4d797b2ecc3811a7887b0b0dfc</anchor>
      <arglist></arglist>
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    <name>prbt_manipulator::IKFastKinematicsPlugin</name>
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    <base>kinematics::KinematicsBase</base>
    <member kind="function">
      <type>bool</type>
      <name>getPositionFK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a55201e42c70828451960e98a59157ccd</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a539103b41fe616881630b6ebf3147003</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a7a25dcd2294c511105a946e793f52400</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Pose &gt; &amp;ik_poses, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; std::vector&lt; double &gt;&gt; &amp;solutions, kinematics::KinematicsResult &amp;result, const kinematics::KinematicsQueryOptions &amp;options) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKFastKinematicsPlugin</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a93311e2a160d027ba5502643bcd163cf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a1a1f734dfd7661262ac0a35707f1d482</anchor>
      <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, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a39f82bbdb5d55f75fc5073fc1f0fa29a</anchor>
      <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, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>afbb943e3f8dc8df33f8e189215fb8cd2</anchor>
      <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 override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ae5c70e7efdf6e151b3e3165d3cd0aced</anchor>
      <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 override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setRedundantJoints</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a500c01357cc50a6213f63b3f2f898495</anchor>
      <arglist>(const std::vector&lt; unsigned int &gt; &amp;redundant_joint_indices) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setSearchDiscretization</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a02c2d17fed26cc498d3b823c882b694d</anchor>
      <arglist>(const std::map&lt; unsigned int, double &gt; &amp;discretization)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>computeRelativeTransform</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a82de532a0b72cc262e1e57f0ffca41ff</anchor>
      <arglist>(const std::string &amp;from, const std::string &amp;to, Eigen::Isometry3d &amp;transform, bool &amp;differs_from_identity)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>enforceLimits</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ab51846cd582e1729e98ecfe1a33a0902</anchor>
      <arglist>(double val, double min, double max) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>fillFreeParams</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a0a2c8eb29926e6626a5c7b03e286b652</anchor>
      <arglist>(int count, int *array)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>getCount</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>acf7ea4c1438af9c1a8512e9f89500df6</anchor>
      <arglist>(int &amp;count, const int &amp;max_count, const int &amp;min_count) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ae37e3b8ad1464308495a7c707e6d06b4</anchor>
      <arglist>() const override</arglist>
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    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a990e69de4609d9e8d082eabd17b7ef97</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a3aa0f04eed98c3fd5275fe991ca8d2d8</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, int i, std::vector&lt; double &gt; &amp;solution) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a0396ba6fb1f078f767d1b1c59c2a6139</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>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a842b2d3bfcbae825bcdeb67fb6d333e5</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>sampleRedundantJoint</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a6ec3eb12b99e1385bcadfa1e7cf3ebe5</anchor>
      <arglist>(kinematics::DiscretizationMethod method, std::vector&lt; double &gt; &amp;sampled_joint_vals) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>size_t</type>
      <name>solve</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a3d58d2c8c8579b627c85dabbbafd6ad1</anchor>
      <arglist>(KDL::Frame &amp;pose_frame, const std::vector&lt; double &gt; &amp;vfree, IkSolutionList&lt; IkReal &gt; &amp;solutions) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>transformToChainFrame</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a688d41b1cdb2cbe788304b8cc365f8f0</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, KDL::Frame &amp;ik_pose_chain) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>base_transform_required_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a4c7b2979ffe13d441d1e049c7d15d083</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
      <name>chain_base_to_group_base_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>acb6bc612e71fe3147d4156a77d40390b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>free_params_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ac9cb437c0d4e312e74fc543624f2fe51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
      <name>group_tip_to_chain_tip_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a8ec81fcc76458f2a6846c4290341f8fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>IKFAST_BASE_FRAME_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a88db5b0a20e8ab764fcc3099f1fa35a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>IKFAST_TIP_FRAME_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a6b870057a6d410364a5d2b1fa4abae67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aaf7f8071f48ceaf30038dbb4c373d9b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; bool &gt;</type>
      <name>joint_has_limits_vector_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aecd1d1617b80574c03aad37b1da7fb33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_max_vector_</name>
      <anchorfile>classprbt__manipulator_1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a1ca124472a095679051cb426a86c15fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_min_vector_</name>
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