<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>hyqleg_inverse_kinematics.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/</path>
    <filename>hyqleg__inverse__kinematics_8cc</filename>
    <includes id="hyqleg__inverse__kinematics_8h" name="hyqleg_inverse_kinematics.h" local="no" imported="no">xpp_hyq/hyqleg_inverse_kinematics.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>hyqleg_inverse_kinematics.h</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/include/xpp_hyq/</path>
    <filename>hyqleg__inverse__kinematics_8h</filename>
    <class kind="class">xpp::HyqlegInverseKinematics</class>
    <namespace>xpp</namespace>
    <member kind="enumeration">
      <type></type>
      <name>HyqJointID</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>HAA</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65baef87c2a4075db94a2ca08301c4e7edf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>HFE</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65ba15d48097afa936d502464656d12dde36</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>KFE</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65ba8c51d4c29bcd25a0e21b19c30c167c22</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>HyqlegJointCount</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65babdadc3ba02450b44dbe90bcea52634a2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics_hyq1.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/</path>
    <filename>inverse__kinematics__hyq1_8cc</filename>
    <includes id="inverse__kinematics__hyq1_8h" name="inverse_kinematics_hyq1.h" local="no" imported="no">xpp_hyq/inverse_kinematics_hyq1.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics_hyq1.h</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/include/xpp_hyq/</path>
    <filename>inverse__kinematics__hyq1_8h</filename>
    <includes id="hyqleg__inverse__kinematics_8h" name="hyqleg_inverse_kinematics.h" local="no" imported="no">xpp_hyq/hyqleg_inverse_kinematics.h</includes>
    <class kind="class">xpp::InverseKinematicsHyq1</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics_hyq2.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/</path>
    <filename>inverse__kinematics__hyq2_8cc</filename>
    <includes id="inverse__kinematics__hyq2_8h" name="inverse_kinematics_hyq2.h" local="no" imported="no">xpp_hyq/inverse_kinematics_hyq2.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics_hyq2.h</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/include/xpp_hyq/</path>
    <filename>inverse__kinematics__hyq2_8h</filename>
    <includes id="hyqleg__inverse__kinematics_8h" name="hyqleg_inverse_kinematics.h" local="no" imported="no">xpp_hyq/hyqleg_inverse_kinematics.h</includes>
    <class kind="class">xpp::InverseKinematicsHyq2</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics_hyq4.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/</path>
    <filename>inverse__kinematics__hyq4_8cc</filename>
    <includes id="inverse__kinematics__hyq4_8h" name="inverse_kinematics_hyq4.h" local="no" imported="no">xpp_hyq/inverse_kinematics_hyq4.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics_hyq4.h</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/include/xpp_hyq/</path>
    <filename>inverse__kinematics__hyq4_8h</filename>
    <includes id="hyqleg__inverse__kinematics_8h" name="hyqleg_inverse_kinematics.h" local="no" imported="no">xpp_hyq/hyqleg_inverse_kinematics.h</includes>
    <class kind="class">xpp::InverseKinematicsHyq4</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>urdf_visualizer_hyq1.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/exe/</path>
    <filename>urdf__visualizer__hyq1_8cc</filename>
    <includes id="inverse__kinematics__hyq1_8h" name="inverse_kinematics_hyq1.h" local="no" imported="no">xpp_hyq/inverse_kinematics_hyq1.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>urdf__visualizer__hyq1_8cc.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>urdf_visualizer_hyq2.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/exe/</path>
    <filename>urdf__visualizer__hyq2_8cc</filename>
    <includes id="inverse__kinematics__hyq2_8h" name="inverse_kinematics_hyq2.h" local="no" imported="no">xpp_hyq/inverse_kinematics_hyq2.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>urdf__visualizer__hyq2_8cc.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>urdf_visualizer_hyq4.cc</name>
    <path>/tmp/ws/src/xpp/robots/xpp_hyq/src/exe/</path>
    <filename>urdf__visualizer__hyq4_8cc</filename>
    <includes id="inverse__kinematics__hyq4_8h" name="inverse_kinematics_hyq4.h" local="no" imported="no">xpp_hyq/inverse_kinematics_hyq4.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>urdf__visualizer__hyq4_8cc.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::HyqlegInverseKinematics</name>
    <filename>classxpp_1_1HyqlegInverseKinematics.html</filename>
    <member kind="enumvalue">
      <name>Backward</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a47e4fe86b7b8061674e4afd4480dead0a36bd830e66de87a072582310be2de76c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Forward</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a47e4fe86b7b8061674e4afd4480dead0aa1b06ea8eadc1825072a7ead833beae8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>KneeBend</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a47e4fe86b7b8061674e4afd4480dead0</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Forward</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a47e4fe86b7b8061674e4afd4480dead0aa1b06ea8eadc1825072a7ead833beae8</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>Backward</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a47e4fe86b7b8061674e4afd4480dead0a36bd830e66de87a072582310be2de76c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Vector3d</type>
      <name>Vector3d</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>ad247f1ab8ce461f28a5d028721c7ee0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>EnforceLimits</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a7dada1dc797a8d81da36deaecff6c3a8</anchor>
      <arglist>(double &amp;q, HyqJointID joint) const </arglist>
    </member>
    <member kind="function">
      <type>Vector3d</type>
      <name>GetJointAngles</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>ae3ca6b976e875499da555cc85829c457</anchor>
      <arglist>(const Vector3d &amp;ee_pos_H, KneeBend bend=Forward) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HyqlegInverseKinematics</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>af288ecb9fc985d8363a469bc9c065537</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~HyqlegInverseKinematics</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a8166b5d5146dbd92468b2bead44df385</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector3d</type>
      <name>hfe_to_haa_z</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>ac8dc6795cae69e1651f510cb672acb77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>length_shank</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>ae5db7fec08f3df81992ccbf87d8c071b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>length_thigh</name>
      <anchorfile>classxpp_1_1HyqlegInverseKinematics.html</anchorfile>
      <anchor>a04bc4be4d80831c20580cf2959888c4c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::InverseKinematicsHyq1</name>
    <filename>classxpp_1_1InverseKinematicsHyq1.html</filename>
    <base>xpp::InverseKinematics</base>
    <member kind="function">
      <type>Joints</type>
      <name>GetAllJointAngles</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq1.html</anchorfile>
      <anchor>a0f9076bdabde286edb89d687c58604ae</anchor>
      <arglist>(const EndeffectorsPos &amp;pos_B) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEECount</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq1.html</anchorfile>
      <anchor>a7109ae94b88605201a930e9b2e961698</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InverseKinematicsHyq1</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq1.html</anchorfile>
      <anchor>a02e4596da1d08fb05df09090a94eac2e</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InverseKinematicsHyq1</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq1.html</anchorfile>
      <anchor>a15c60c7500de9e8393be77874228103d</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>HyqlegInverseKinematics</type>
      <name>leg</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq1.html</anchorfile>
      <anchor>a0e3149458732dc92de8dc225fce7035b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::InverseKinematicsHyq2</name>
    <filename>classxpp_1_1InverseKinematicsHyq2.html</filename>
    <base>xpp::InverseKinematics</base>
    <member kind="function">
      <type>Joints</type>
      <name>GetAllJointAngles</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq2.html</anchorfile>
      <anchor>afb3fba2885361afb32725ff1ac44d4d5</anchor>
      <arglist>(const EndeffectorsPos &amp;pos_B) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEECount</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq2.html</anchorfile>
      <anchor>a54500ba5e80a128a2c8ca6e66e0d70b8</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InverseKinematicsHyq2</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq2.html</anchorfile>
      <anchor>a277caecae0bb5b5a46f795b147717a82</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InverseKinematicsHyq2</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq2.html</anchorfile>
      <anchor>aedff1f4369ab2963cb9c0664aadcea6b</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>HyqlegInverseKinematics</type>
      <name>leg</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq2.html</anchorfile>
      <anchor>a86a8c041ea60d8327a21b6153be83579</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::InverseKinematicsHyq4</name>
    <filename>classxpp_1_1InverseKinematicsHyq4.html</filename>
    <base>xpp::InverseKinematics</base>
    <member kind="function">
      <type>Joints</type>
      <name>GetAllJointAngles</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq4.html</anchorfile>
      <anchor>a730685f086dfe9ec9f41804895546a9c</anchor>
      <arglist>(const EndeffectorsPos &amp;pos_b) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>GetEECount</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq4.html</anchorfile>
      <anchor>a016305e732861bd74a1ea2e3652fbc11</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InverseKinematicsHyq4</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq4.html</anchorfile>
      <anchor>a52e116d848fc2bcc2e6893f9090431e8</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InverseKinematicsHyq4</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq4.html</anchorfile>
      <anchor>aa3e7c958d61b964bf5cc9f96edd04305</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector3d</type>
      <name>base2hip_LF_</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq4.html</anchorfile>
      <anchor>aa3ca983b96e94c626a5c264bdd0545d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>HyqlegInverseKinematics</type>
      <name>leg</name>
      <anchorfile>classxpp_1_1InverseKinematicsHyq4.html</anchorfile>
      <anchor>a3ea1b77428e3b78ec97711fd3d39e888</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>xpp</name>
    <filename>namespacexpp.html</filename>
    <class kind="class">xpp::HyqlegInverseKinematics</class>
    <class kind="class">xpp::InverseKinematicsHyq1</class>
    <class kind="class">xpp::InverseKinematicsHyq2</class>
    <class kind="class">xpp::InverseKinematicsHyq4</class>
    <member kind="typedef">
      <type>uint</type>
      <name>EndeffectorID</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a4a4286a48c5e17ada40897f2fe7eb474</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>uint</type>
      <name>EndeffectorID</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a4a4286a48c5e17ada40897f2fe7eb474</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Eigen::Vector3d &gt;</type>
      <name>EndeffectorsAcc</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>aaf399f9332e799203c64dba80467e827</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Eigen::Vector3d &gt;</type>
      <name>EndeffectorsAcc</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>aaf399f9332e799203c64dba80467e827</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Eigen::Vector3d &gt;</type>
      <name>EndeffectorsPos</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a40627fe9997795e9ffe2b258d7dbb3af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Eigen::Vector3d &gt;</type>
      <name>EndeffectorsPos</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a40627fe9997795e9ffe2b258d7dbb3af</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Eigen::Vector3d &gt;</type>
      <name>EndeffectorsVel</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a3ca14d5aa9f8f7ab0e199356b2c87df1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Eigen::Vector3d &gt;</type>
      <name>EndeffectorsVel</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a3ca14d5aa9f8f7ab0e199356b2c87df1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaterniond</type>
      <name>Quaterniond</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>af6e9346928a47a29e44f989be555918e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Quaterniond</type>
      <name>Quaterniond</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>af6e9346928a47a29e44f989be555918e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Vector2d</type>
      <name>Vector2d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9928175fb4907ddc9f425e68c73a8189</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Vector2d</type>
      <name>Vector2d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9928175fb4907ddc9f425e68c73a8189</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Vector3d</type>
      <name>Vector3d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a09a787f494a4baf1a91d5c7c4e497f88</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Vector3d</type>
      <name>Vector3d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a09a787f494a4baf1a91d5c7c4e497f88</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Vector6d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ae5fabb50bd430579f488f1e680a43ec0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Vector6d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ae5fabb50bd430579f488f1e680a43ec0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::VectorXd</type>
      <name>VectorXd</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a40e6506dfb5fffbb71e1ef0661d96408</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::VectorXd</type>
      <name>VectorXd</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a40e6506dfb5fffbb71e1ef0661d96408</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Coords2D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9984b25bc31e0b11ff3a382d4bd6b519</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Coords2D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9984b25bc31e0b11ff3a382d4bd6b519</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Coords3D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Coords3D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Coords6D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>Coords6D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>HyqJointID</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>HAA</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65baef87c2a4075db94a2ca08301c4e7edf2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>HFE</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65ba15d48097afa936d502464656d12dde36</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>KFE</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65ba8c51d4c29bcd25a0e21b19c30c167c22</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>HyqlegJointCount</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ad33396cf04414cca50a270f6327ab65babdadc3ba02450b44dbe90bcea52634a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>MotionDerivative</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>MotionDerivative</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Vector3d</type>
      <name>GetEulerZYXAngles</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a24822a81c9f481775fe3485532609359</anchor>
      <arglist>(const Quaterniond &amp;q)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Quaterniond</type>
      <name>GetQuaternionFromEulerZYX</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a152fc136195a861cf1f80634085369ba</anchor>
      <arglist>(double yaw, double pitch, double roll)</arglist>
    </member>
    <member kind="function">
      <type>StateLinXd</type>
      <name>operator*</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>aa72e5c6e5c88b6372b32e7c09df0be58</anchor>
      <arglist>(double mult, const StateLinXd &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>StateLinXd</type>
      <name>operator+</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>ab2d9bdeab57fda192195b7d4c48ab6c8</anchor>
      <arglist>(const StateLinXd &amp;lhs, const StateLinXd &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>aaeaf8e2288af6941425407aada0cd784</anchor>
      <arglist>(std::ostream &amp;out, const StateAng3d &amp;ori)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>abc2da136454a046451dd605724899eb1</anchor>
      <arglist>(std::ostream &amp;out, const StateLinXd &amp;pos)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a3c961d78a81e7d342aed721383f5564c</anchor>
      <arglist>(std::ostream &amp;out, const State3d &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a4a909056ee0ea549c7d1b21490b1f16b</anchor>
      <arglist>(std::ostream &amp;stream, Endeffectors&lt; T &gt; endeffectors)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Coords2D</type>
      <name>To2D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>adaa974e6120992b55c9a33c230050200</anchor>
      <arglist>(Coords3D dim)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const Coords6D</type>
      <name>AllDim6D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a50053a36d94c64fae3f4caac97f7f5c0</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const Coords6D</type>
      <name>AllDim6D</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a50053a36d94c64fae3f4caac97f7f5c0</anchor>
      <arglist>[]</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>AX</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a68d094b2039cfa8963d9803473cc81d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>AX</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a68d094b2039cfa8963d9803473cc81d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>AY</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a8ad3060e85c0efa9ea7bfad38a49a715</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>AY</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a8ad3060e85c0efa9ea7bfad38a49a715</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>AZ</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a5d97f7a75d7c0e38a18477e76a0da6ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>AZ</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a5d97f7a75d7c0e38a18477e76a0da6ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static ColorT</type>
      <name>color</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a8ddeb15967fbf0f8b3223b79faf8814f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kAcc</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a064dcabe27eb9861039e1beed0c9f739</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kAcc</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a064dcabe27eb9861039e1beed0c9f739</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kDim2d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>acef0804968a36914f8403904c62d3979</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kDim2d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>acef0804968a36914f8403904c62d3979</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kDim3d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a8da49becb85f66876062d01e75a67b91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kDim3d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a8da49becb85f66876062d01e75a67b91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kDim6d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a95f5c921f4a5edf08320b744c26aa15a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kDim6d</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a95f5c921f4a5edf08320b744c26aa15a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kJerk</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a2e2cd670e63c22e7befc56cb93911250</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kJerk</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a2e2cd670e63c22e7befc56cb93911250</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kPos</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a21b2aa1a0084f61cf50ba07eddf293cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kPos</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a21b2aa1a0084f61cf50ba07eddf293cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kVel</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a63f592c720503eda727261ddf945ba9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>kVel</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a911082f102c6e1f45d4d37f44fcbbad5a63f592c720503eda727261ddf945ba9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LX</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349ab00949bf74782b2899c3467dbc113207</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LX</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349ab00949bf74782b2899c3467dbc113207</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LY</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a1fb928d6b6d1937e295be404df8a1c3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LY</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a1fb928d6b6d1937e295be404df8a1c3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LZ</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a749d7544a2355a7a5984970867ac7402</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>LZ</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a1508fb58b9062faca57ddb567be1a349a749d7544a2355a7a5984970867ac7402</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>X</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba3a48f7f02fad46d1db91aae03c1f1857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>X</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba3a48f7f02fad46d1db91aae03c1f1857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>X_</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9984b25bc31e0b11ff3a382d4bd6b519a8baefbaa202780c133ad1da192812efd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>X_</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9984b25bc31e0b11ff3a382d4bd6b519a8baefbaa202780c133ad1da192812efd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba645e9ed6e607f72e5beb410a199fe150</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba645e9ed6e607f72e5beb410a199fe150</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y_</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9984b25bc31e0b11ff3a382d4bd6b519a19f7c010434d84640dea88c0f01df901</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Y_</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a9984b25bc31e0b11ff3a382d4bd6b519a19f7c010434d84640dea88c0f01df901</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Z</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba7c89693559b79af2a5585c77de158882</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Z</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba7c89693559b79af2a5585c77de158882</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
