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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(std::istream &amp;is)</arglist>
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      <name>abs</name>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArrayVel &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArray &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, JntArrayVel &amp;dest)</arglist>
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      <arglist>(const VectorVel &amp;a, const VectorVel &amp;da, double dt=1.0)</arglist>
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      <arglist>(const RotationVel &amp;a, const VectorVel &amp;da, double dt=1.0)</arglist>
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      <arglist>(const FrameVel &amp;a, const TwistVel &amp;da, double dt=1.0)</arglist>
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      <arglist>(const Vector &amp;p_w_a, const Vector &amp;p_w_da, double dt=1)</arglist>
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      <arglist>(const Rotation &amp;R_w_a, const Vector &amp;da_w, double dt=1)</arglist>
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      <arglist>(const Frame &amp;F_w_a, const Twist &amp;da_w, double dt=1)</arglist>
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      <arglist>(const Wrench &amp;a, const Wrench &amp;da, double dt=1)</arglist>
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      <arglist>(const doubleVel &amp;a, const doubleVel &amp;da, double dt=1.0)</arglist>
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      <arglist>(double a, double da, double dt)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(double a)</arglist>
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      <name>atan</name>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b)</arglist>
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      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const Jacobian &amp;src1, const Rotation &amp;rot, Jacobian &amp;dest)</arglist>
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      <arglist>(const Jacobian &amp;src1, const Frame &amp;frame, Jacobian &amp;dest)</arglist>
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      <arglist>(const Jacobian &amp;src1, const Vector &amp;base_AB, Jacobian &amp;dest)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const T &amp;a, const T &amp;b, double eps)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>double</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a)</arglist>
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      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>double</type>
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      <arglist>(double a)</arglist>
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      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b, double dt)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;a, const VectorVel &amp;b, double dt=1.0)</arglist>
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      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const RotationVel &amp;a, const RotationVel &amp;b, double dt=1.0)</arglist>
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      <arglist>(const FrameVel &amp;a, const FrameVel &amp;b, double dt=1.0)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;p_w_a, const Vector &amp;p_w_b, double dt=1)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation &amp;R_a_b1, const Rotation &amp;R_a_b2, double dt=1)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;F_a_b1, const Frame &amp;F_a_b2, double dt=1)</arglist>
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      <arglist>(const Twist &amp;a, const Twist &amp;b, double dt=1)</arglist>
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      <arglist>(const Wrench &amp;W_a_p1, const Wrench &amp;W_a_p2, double dt=1)</arglist>
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      <name>diffRelative</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;F_a_b1, const Frame &amp;F_a_b2, double dt=1)</arglist>
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      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchor>ae8b64e8487e3bb3b6a8f2ccf5255c80f</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae139248a5f388a7926789e58a1cb192b</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa9dca0c2efb73851970931de9f0daa6e</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const double &amp;factor, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
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      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;lhs, const VectorAcc &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;lhs, const VectorAcc &amp;rhs)</arglist>
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      <arglist>(const VectorVel &amp;lhs, const VectorVel &amp;rhs)</arglist>
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      <arglist>(const VectorVel &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;lhs, const VectorVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Twist &amp;lhs, const Wrench &amp;rhs)</arglist>
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      <arglist>(const Wrench &amp;rhs, const Twist &amp;lhs)</arglist>
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      <arglist>(std::istream &amp;is, int delim)</arglist>
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      <arglist>(std::istream &amp;is, const char *descript)</arglist>
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      <arglist>(std::istream &amp;is, int delim)</arglist>
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      <arglist>(std::istream &amp;is, const char *delim, char *storage, int maxsize)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameAcc &amp;r1, const FrameAcc &amp;r2, double eps=epsilon)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;r1, const FrameAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const FrameAcc &amp;r1, const Frame &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const TwistAcc &amp;a, const TwistAcc &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Twist &amp;a, const TwistAcc &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const TwistAcc &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const FrameVel &amp;r1, const FrameVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Frame &amp;r1, const FrameVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const FrameVel &amp;r1, const Frame &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Twist &amp;a, const TwistVel &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const TwistVel &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, double eps)</arglist>
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      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, double eps)</arglist>
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      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, double eps)</arglist>
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      <arglist>(const Jacobian &amp;a, const Jacobian &amp;b, double eps)</arglist>
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      <arglist>(const Frame &amp;a, const Frame &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Wrench &amp;a, const Wrench &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Rotation2 &amp;a, const Rotation2 &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Frame2 &amp;a, const Frame2 &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Rotation &amp;a, const Rotation &amp;b, double eps)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, double eps)</arglist>
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      <arglist>(double a, double b, double eps=epsilon)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x, double eps=epsilon)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x, double eps=epsilon)</arglist>
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      <arglist>(double a)</arglist>
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      <name>exp</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(int n, double x, double *powers)</arglist>
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      <name>hypot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>hypot</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const std::string &amp;description)</arglist>
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      <arglist>(std::ostream &amp;os)</arglist>
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      <arglist>()</arglist>
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      <arglist>(char *buffer, int size)</arglist>
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      <name>KukaLWR</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Eigen::MatrixXd &amp;A, const Eigen::VectorXd &amp;v, Eigen::MatrixXd &amp;L, Eigen::VectorXd &amp;D, Eigen::VectorXd &amp;vtmp, Eigen::VectorXd &amp;q)</arglist>
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      <arglist>(double alfa, double a, double beta, double b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall1d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall1d&lt; T, V, S &gt; &amp;b)</arglist>
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      <name>LinComb</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall2d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall2d&lt; T, V, S &gt; &amp;b)</arglist>
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      <arglist>(double alfa, double a, double beta, double b, double &amp;result)</arglist>
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      <arglist>(S alfa, const Rall1d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall1d&lt; T, V, S &gt; &amp;b, Rall1d&lt; T, V, S &gt; &amp;result)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall2d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall2d&lt; T, V, S &gt; &amp;b, Rall2d&lt; T, V, S &gt; &amp;result)</arglist>
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      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a)</arglist>
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      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aecfc62e3d4f3d21b9752669794aac2fb</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntSpaceInertiaMatrix &amp;src, const double &amp;factor, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1210f7f6f4db1eee2e2c39211c7cb388</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const JntArray &amp;vec, JntArray &amp;dest)</arglist>
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      <name>Multiply</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab32cb0e76ccfdbc012bbdff485fa2e2c</anchor>
      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a15f89314c4b049945d7e4566b3bb1459</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4b751d3ba37a7ca2ee37b4955b6a1b2c</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Jacobian &amp;jac, const JntArray &amp;src, Twist &amp;dest)</arglist>
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      <name>Norm</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;value)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;value)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;r1, const FrameVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;r1, const FrameVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;r1, const Frame &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2)</arglist>
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      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2)</arglist>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b)</arglist>
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      <arglist>(const Twist &amp;r1, const TwistVel &amp;r2)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const TwistVel &amp;r1, const Twist &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;a, const Frame &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;a, const Vector &amp;b)</arglist>
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      <arglist>(const Twist &amp;a, const Twist &amp;b)</arglist>
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      <arglist>(const Wrench &amp;a, const Wrench &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation &amp;a, const Rotation &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;lhs, const Frame &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;lhs, const FrameVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;lhs, const Frame &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;lhs, const FrameVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, const RigidBodyInertia &amp;I)</arglist>
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      <arglist>(double a, const RotationalInertia &amp;I)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, const ArticulatedBodyInertia &amp;I)</arglist>
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      <arglist>(const RigidBodyInertia &amp;I, const Twist &amp;t)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <arglist>(const Frame &amp;T, const RigidBodyInertia &amp;I)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
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      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <arglist>(const ArticulatedBodyInertia &amp;I, const Twist &amp;t)</arglist>
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      <arglist>(double r1, const VectorAcc &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a68dfff80e6489e8c7c208d764a71ccaa</anchor>
      <arglist>(const Rotation &amp;M, const RigidBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aadc7e8ee3d8788b987dc0f0a4c5f67e3</anchor>
      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab60953771d5ef2a0ef08cf7e8266473f</anchor>
      <arglist>(const Frame &amp;T, const ArticulatedBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9cb7bd269eab198b5145a802b20456d7</anchor>
      <arglist>(const doubleAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaeeb2ef394b9f8e5772d793d9c361530</anchor>
      <arglist>(const Stiffness &amp;s, const Twist &amp;t)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab5247191df17553320eb1639d901221b</anchor>
      <arglist>(const Vector &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a51ac1ce1dbd62896096448a98e209b96</anchor>
      <arglist>(const VectorAcc &amp;r2, const doubleAcc &amp;r1)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aef01dde4be0f6e8252a1703c16f30bdc</anchor>
      <arglist>(const Rotation &amp;M, const ArticulatedBodyInertia &amp;I)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a357a1574d4d5fa898fc43df23fea8462</anchor>
      <arglist>(double lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa3709494d8a02d8757f4b668c452155a</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5d7163c16649fa3a642aa848324fe9d4</anchor>
      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>adbe94445d0882c39d30eae3dc0cafe87</anchor>
      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5da7749f16d9ee38bfd37e79a4b4d396</anchor>
      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa9ad476d005ede2a464b048a9b048a96</anchor>
      <arglist>(const Rotation &amp;lhs, const Rotation &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afc6f0d30c6f9d3e92c554585907be39b</anchor>
      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30128ae85ca846c146f1df52ffd18aa8</anchor>
      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58fadb516d19574d7ac0cb40d1022f3e</anchor>
      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae0ac1e675d2d8e40cba13ea17eb64154</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af4b20aee782ff7944820549428d994d3</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5c7d683679ab9019a65107e128cd6b88</anchor>
      <arglist>(const Wrench &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acf526a38ef0ac580f129e95baef75930</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae46db8b8cf405b5faf1a89263296d7de</anchor>
      <arglist>(double lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac63ff44d01eb3515325a5e68632a0411</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aef301ceb31d21ec006c03b3359673b75</anchor>
      <arglist>(const Rotation &amp;R, const VectorAcc &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ade558189aadf6828c72bda912c0be10b</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae8b5701325d16dc7c9b820e1100cfb4b</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae2e894b949233d7a44ae28da39fba9b3</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>addce33b1267ae40397c0868e3494c443</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2ef790489497475f742e991ac055e870</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a99600554d49023bd93514a61abec1bb6</anchor>
      <arglist>(double r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaa72572d20b5e96b3b36b36b99467db4</anchor>
      <arglist>(const VectorVel &amp;r1, double r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abd858f51b9b11ad399be86cfc8f9e488</anchor>
      <arglist>(const doubleVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>add99195f2e34b8ba9680d64463ab237f</anchor>
      <arglist>(const VectorVel &amp;r2, const doubleVel &amp;r1)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30bd9b19d131e18d55c493a26f69b6b0</anchor>
      <arglist>(const doubleVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac87ef443bc4a8a8fcf86551a10b1dbef</anchor>
      <arglist>(const Rotation &amp;R, const VectorVel &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f3979c3069f3d6558fc902a86c380d5</anchor>
      <arglist>(const Twist &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8450a02abf20b80c80e444d29ab5304d</anchor>
      <arglist>(const FrameAcc &amp;lhs, const FrameAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4164febadd9c9bf7a119cf4223350675</anchor>
      <arglist>(const doubleAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a74682143c6c66632244b5e67cccce8c0</anchor>
      <arglist>(double lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad315c19f6564614fd6fe4350fa04885b</anchor>
      <arglist>(const FrameAcc &amp;lhs, const Frame &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aec4b7d8ac5c54d65fa070bd6a189fe26</anchor>
      <arglist>(const Frame &amp;lhs, const FrameAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab85c524cf4f6bd5364363dad1ef08ae5</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aafe32822da77309b7f5c0260aa926886</anchor>
      <arglist>(const Twist &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaab7b9e81b8789337bdbb13d9fd2e4cd</anchor>
      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af8d405e2914bea19aecfc2aac9143375</anchor>
      <arglist>(double lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8b4f64aa851af027829c24d1d9deefd3</anchor>
      <arglist>(const TwistAcc &amp;lhs, const doubleAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a72c5596a3ca250d8329e774648e9fa91</anchor>
      <arglist>(const TwistVel &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a33851c818cc9f12974f3cb29ebc74615</anchor>
      <arglist>(double lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f74503124b79423fed9b28b20124361</anchor>
      <arglist>(const TwistVel &amp;lhs, const doubleVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae6a6cf702dd433fb1cd0cd462068380</anchor>
      <arglist>(const Vector2 &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2152fae33fee05d9bf23e9aaf5dfbe91</anchor>
      <arglist>(double lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Rotation2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae4ddd74aa0ffa153735c9603b51ea06f</anchor>
      <arglist>(const Rotation2 &amp;lhs, const Rotation2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Frame2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a00f0baabdb899f295fb9611e0b724560</anchor>
      <arglist>(const Frame2 &amp;lhs, const Frame2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac1f7e351c8fd233adb3ab3a89d344807</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58aec482512a0c59b6c91e937854ca65</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8e7b9ed5c63404773079ae53ee00d200</anchor>
      <arglist>(const Wrench &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac3f53bf66c5fe04eb356b96b38e11033</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a05ce61116e9eb721ff6ce1a3fbc98a43</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a021feb07a51ec623e769248b1c110cf9</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a996784b6057419f3a2a8ff6565221ce0</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3e1e5d70194d5577e7e5e7c534f9f877</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa3ab49311febc69235cc75ad7fe81a91</anchor>
      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a75aac327bb8398b72660f8ff603af0a7</anchor>
      <arglist>(const TwistVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae19bb99f118f93827bbcfd227651028f</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aea25d0be19e8dccf456c4f8e0e1fe28f</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6a8432d8241db0cbee8a256f4b59ef46</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af14129ba902ec31f692ae97e29c033ef</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>RigidBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9a48ecd0ba02c61eb30f97b3606a1d10</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acab79938e3027d6510cfa4a90720c95f</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a37489ad00a48b8b652eadc65bebd5ad3</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab56265b003752215f2d94c00493e4c21</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3bc91024ee0a8b23fa94b74fa7c952f0</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>RotationalInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abe6b8cfeb5c5230d0641585798889a77</anchor>
      <arglist>(const RotationalInertia &amp;Ia, const RotationalInertia &amp;Ib)</arglist>
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      <type>IMETHOD Vector</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae21b94ac92952d16ee509a5a4b8c449</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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    <member kind="function">
      <type>Stiffness</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9c96e2afbe60a8f62893843c08895a35</anchor>
      <arglist>(const Stiffness &amp;s1, const Stiffness &amp;s2)</arglist>
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      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a698a887bd036f999ead109cb2f29c5e5</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
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      <type>ArticulatedBodyInertia</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a148a5015338fa55d58b91dc7b9bb9983</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
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      <type>ArticulatedBodyInertia</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const RigidBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
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      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <type>ArticulatedBodyInertia</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Wrench &amp;lhs, const Wrench &amp;rhs)</arglist>
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      <arglist>(const Wrench &amp;arg)</arglist>
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      <arglist>(const VectorVel &amp;r)</arglist>
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      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
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      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
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      <arglist>(const Twist &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
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      <type>TwistAcc</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistAcc &amp;arg)</arglist>
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      <arglist>(const TwistVel &amp;arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector2 &amp;arg)</arglist>
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      <type>TwistVel</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <type>TwistVel</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistVel &amp;lhs, const doubleVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r2, const doubleAcc &amp;r1)</arglist>
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      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Wrench &amp;lhs, double rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector2 &amp;lhs, double rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistVel &amp;lhs, double rhs)</arglist>
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      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
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      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistAcc &amp;lhs, const doubleAcc &amp;rhs)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
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      <arglist>(const VectorVel &amp;r2, const doubleVel &amp;r1)</arglist>
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      <name>operator/</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Twist &amp;lhs, double rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
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      <arglist>(const VectorVel &amp;r1, double r2)</arglist>
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      <arglist>(const Vector &amp;lhs, double rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <arglist>(std::ostream &amp;os, const Twist &amp;v)</arglist>
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      <arglist>(std::ostream &amp;os, const Rotation &amp;R)</arglist>
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      <arglist>(std::ostream &amp;os, const FrameAcc &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const Rall2d&lt; T, V, S &gt; &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const FrameVel &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const Vector &amp;v)</arglist>
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      <arglist>(std::ostream &amp;os, const RotationVel &amp;r)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(std::ostream &amp;os, const VectorVel &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const VectorAcc &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const RotationAcc &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const TwistVel &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const TwistAcc &amp;r)</arglist>
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      <arglist>(std::ostream &amp;os, const Joint &amp;joint)</arglist>
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      <arglist>(std::ostream &amp;os, const JntArray &amp;array)</arglist>
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      <arglist>(std::ostream &amp;os, const Jacobian &amp;jac)</arglist>
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      <arglist>(FrameVel &amp;F)</arglist>
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      <arglist>(const JntArrayVel &amp;src1, const JntArray &amp;src2, JntArrayVel &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArrayVel &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, JntArrayVel &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src1, const JntArray &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, JntArray &amp;dest)</arglist>
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      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <arglist>(const MatrixXd &amp;A, MatrixXd &amp;U, VectorXd &amp;S, MatrixXd &amp;V, VectorXd &amp;tmp, int maxiter, double epsilon)</arglist>
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      <arglist>(const Eigen::MatrixXd &amp;A, Eigen::MatrixXd &amp;U, Eigen::VectorXd &amp;S, Eigen::MatrixXd &amp;V, Eigen::MatrixXd &amp;B, Eigen::VectorXd &amp;tempi, double threshold, bool toggle)</arglist>
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      <arglist>(double a)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(double a)</arglist>
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      <arglist>(const KDL::Twist &amp;t, Eigen::MatrixBase&lt; Derived &gt; &amp;e)</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></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></arglist>
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      <arglist>()</arglist>
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      <arglist>(Iterator start, Iterator end)</arglist>
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      <arglist>(const matrix3x3&lt; T &gt; &amp;m1, const matrix3x3&lt; T &gt; &amp;m2, matrix3x3&lt; T &gt; &amp;r)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const Rot1 &amp;m1, const Rot2 &amp;m2, Rot3 &amp;r)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const matrix3x3&lt; T &gt; &amp;m1, const matrix3x3&lt; T &gt; &amp;m2, matrix3x3&lt; T &gt; &amp;r)</arglist>
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      <arglist>(const quaternion&lt; T &gt; &amp;a, const quaternion&lt; T &gt; &amp;b, quaternion&lt; T &gt; &amp;r)</arglist>
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      <arglist>(const quaternion&lt; T &gt; &amp;a)</arglist>
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      <arglist>(const T &amp;v)</arglist>
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      <arglist>(quaternion&lt; T &gt; &amp;q)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(vec3d&lt; T &gt; &amp;p)</arglist>
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      <arglist>(const quaternion&lt; T &gt; &amp;a, const quaternion&lt; T &gt; &amp;b)</arglist>
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      <arglist>(const quaternion&lt; T &gt; &amp;a)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const quaternion&lt; T &gt; &amp;q)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const matrix3x3&lt; T &gt; &amp;Ri, const point3d &amp;Ti, const matrix3x3&lt; T &gt; &amp;Rj, const point3d &amp;Tj, matrix3x3&lt; T &gt; &amp;Rij, point3d &amp;Tij)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const matrix3x3&lt; T &gt; &amp;m)</arglist>
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      <arglist>(vec3d&lt; T &gt; &amp;p, const matrix&lt; T &gt; &amp;rot)</arglist>
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      <arglist>(vec3d&lt; T &gt; &amp;p, const matrix3x3&lt; T &gt; &amp;rot)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(vec3d&lt; T &gt; &amp;p, const matrix&lt; S &gt; &amp;rot)</arglist>
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      <arglist>(vec3d&lt; T &gt; &amp;p, const matrix3x3&lt; S &gt; &amp;rot)</arglist>
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      <arglist>(vec3d&lt; T &gt; &amp;p, const quaternion&lt; T &gt; &amp;rot)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(vec3d&lt; T &gt; &amp;v, const RotationType &amp;rot, const point3d &amp;trans)</arglist>
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      <arglist>(quaternion&lt; T &gt; &amp;q)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(matrix&lt; T &gt; &amp;m, T val=1)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(matrix3x3&lt; T &gt; &amp;m, T val=1)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const vec3d&lt; T &gt; &amp;p1, const vec3d&lt; T &gt; &amp;p2)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(matrix&lt; T &gt; &amp;m)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
      <anchor>a3d4b472c1eeda86f4a1e6c23ac67afae</anchor>
      <arglist>(matrix3x3&lt; T &gt; &amp;m)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const matrix&lt; T &gt; &amp;src, matrix&lt; T &gt; &amp;dest)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist>(const matrix3x3&lt; T &gt; &amp;src, matrix3x3&lt; T &gt; &amp;dest)</arglist>
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      <anchorfile>namespacemath3d.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>OptType</name>
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      <arglist></arglist>
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      <name>Joint</name>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>SumSq</name>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(uint m, double *result, uint n, const double *x, double *grad, void *data)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;x, std::vector&lt; double &gt; &amp;grad, void *data)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;x, std::vector&lt; double &gt; &amp;grad, void *data)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;x, std::vector&lt; double &gt; &amp;grad, void *data)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;x, std::vector&lt; double &gt; &amp;grad, void *data)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>Speed</name>
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      <arglist></arglist>
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      <name>Distance</name>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(double &amp;val, const double &amp;min, const double &amp;max)</arglist>
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