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    <name>RobotDynamics</name>
    <filename>namespaceRobotDynamics.html</filename>
    <member kind="enumeration">
      <type></type>
      <name>JointType</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>JointType</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a74a803f58b22be109f2bb5061e7abfb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodyGravityWrench</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaf61556c8c2ab33c66fdaf4123c484dbb</anchor>
      <arglist>(Model &amp;model, unsigned int body_id, RobotDynamics::Math::SpatialForce &amp;gravity_wrench)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodySpatialJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga5c9be9d1e944f7343b8f07d1ce2b5cf9</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcBodySpatialJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga35cb7ce7ecf82514560889d2f37b5359</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &amp;G, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactJacobian</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gaf9219f9d85cb8ea6c75cc24e1301e427</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const ConstraintSet &amp;CS, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcContactSystemVariables</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga7685d65c3ee0278a19cca4c7bfe938fc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcMInvTimesTau</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaed5868aa554b411d02a3c36d50e55c87</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVector</type>
      <name>calcPointAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa41f2df7072b4929056dd6219bf9ef80</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointAcceleration6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gab178f8b31aaf3c1d2166b826c104cc4c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointAcceleration6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gac1fc71abbb937362b9559b349fefb030</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga06e6d21f8004baa4f8c304bbb7f34cc5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga9e26d636b4ec05dc205f4ea48091cfa2</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gab859a3c462b8f8cf3850b2d42da8d25a</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga38e7986ca6b97aaef4f25a798e342c49</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga14eb424f9bacc9e554a39b6a3d69cab7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gad0968194a51e47b0346fdb05f43b1066</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga717f61496d54e72c65cdfb8e95fdb6c3</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcPointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa93d89df0f0cd90feafddc5c07129129</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, Math::MatrixNd &amp;G, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVector</type>
      <name>calcPointVelocity</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaaf08140e179ac81d1cc348eb6d95d07a</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga272597d591c72d56f9eb902720773fa8</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, unsigned int body_id, const Math::Vector3d &amp;point_position, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga0d6bead5f5837c581c40aacfe0271ad8</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::FrameVectorPair</type>
      <name>calcPointVelocity6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga74cd588b256273c5a11b52aee1103d5c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativeBodySpatialJacobian</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaa2846871672375fca0845c8f1f33e617</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativeBodySpatialJacobianAndJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga102cdfd09b7641fac54e62a5aa4c04b3</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativeBodySpatialJacobianDot</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gaf34065df76cec82d9be35708c2174a4e</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativePointJacobian6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga47caa44319661326fa1d543878f52b1d</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativePointJacobianAndJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga19a4cd5e6c8aa27e61c315c958c03cf7</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, Math::MatrixNd &amp;GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>calcRelativePointJacobianDot6D</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga289159d6c647da09cdfab7be735737d4</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, Math::MatrixNd &amp;G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialAcceleration</type>
      <name>calcSpatialAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga20189fe09995f214284e82e92ac41bda</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialAcceleration</type>
      <name>calcSpatialAcceleration</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga6a8a1101554d436905ec0ef058f84010</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialMotion</type>
      <name>calcSpatialVelocity</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>gad001c8cd54aaacf5738e0e1619ebf502</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>Math::SpatialMotion</type>
      <name>calcSpatialVelocity</name>
      <anchorfile>group__kinematics__group.html</anchorfile>
      <anchor>ga31ab58ca9bb9a81e56c36673adfba4e5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>compositeRigidBodyAlgorithm</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga3ca45709dee48a60dcc11dabc9cdd6dc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, Math::MatrixNd &amp;H, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gaf7949d2892b4abeca475b69ce324ba2c</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga15c9d9c4c197d238fee28bc1c133d2e5</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeContactImpulsesRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga4983c94fd6c54679d864c612263573d0</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDotMinus, ConstraintSet &amp;CS, Math::VectorNd &amp;QDotPlus)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamics</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga35abf9f7dc4a6b8e49f7071d4eeb6a35</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamics</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a1fa6291ac221a742e0051aff8340b66a</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;Tau, VectorNd &amp;QDDot, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsAccelerationDeltas</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>af147275ef8e051dd4b3b5151deff4c52</anchor>
      <arglist>(Model &amp;model, ConstraintSet &amp;CS, VectorNd &amp;QDDot_t, const unsigned int body_id, const std::vector&lt; SpatialVector &gt; &amp;f_t)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsApplyConstraintForces</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a524a9554cc283acbde1fe9e66537032f</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Tau, ConstraintSet &amp;CS, VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsDirect</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gacafeb30a73e6c174556a77d4672f0668</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsKokkevis</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga3f9de1e8f43c8f7c39d64e3ac855d18f</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsNullSpace</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>gae9f9a6e32415b9f4834f4efcda2460b6</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsContactsRangeSpaceSparse</name>
      <anchorfile>group__contacts__group.html</anchorfile>
      <anchor>ga545363dc54175b8e2c151662d1f40074</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, ConstraintSet &amp;CS, Math::VectorNd &amp;QDDot)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsLagrangian</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a93cd506eab2351522d03d1fbdd291879</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;Tau, VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>forwardDynamicsLagrangian</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaef15296f3713b1c84f5f35ffd1a27d5d</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;Tau, Math::VectorNd &amp;QDDot, Math::MatrixNd &amp;H, Math::VectorNd &amp;C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>gravityEffects</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>gaf7b656bc6f911ab59ffcfd8dc0fee891</anchor>
      <arglist>(Model &amp;model, Math::VectorNd &amp;Tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverseDynamics</name>
      <anchorfile>group__dynamics__group.html</anchorfile>
      <anchor>ga0d67353b07132a693ce500e3cb5a00bc</anchor>
      <arglist>(Model &amp;model, const Math::VectorNd &amp;Q, const Math::VectorNd &amp;QDot, const Math::VectorNd &amp;QDDot, Math::VectorNd &amp;Tau, std::vector&lt; Math::ForceVector &gt; *f_ext=nullptr, bool update_kinematics=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>inverseDynamics</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>a766a20993bf2bcdcab36d09293d375e9</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Q, const VectorNd &amp;QDot, const VectorNd &amp;QDDot, VectorNd &amp;Tau, std::vector&lt; ForceVector &gt; *f_ext, bool update_kinematics)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inverseKinematics</name>
      <anchorfile>namespaceRobotDynamics.html</anchorfile>
      <anchor>af522b137573647f67c65f35bec08eb14</anchor>
      <arglist>(Model &amp;model, const VectorNd &amp;Qinit, const std::vector&lt; unsigned int &gt; &amp;body_id, const std::vector&lt; Vector3d &gt; &amp;body_point, const std::vector&lt; Vector3d &gt; &amp;target_pos, VectorNd &amp;Qres, double step_tol, double lambda, unsigned int max_iter)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>inverseKinematics</name>
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