<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>cartesian_joint_converter.cc</name>
    <path>/tmp/ws/src/xpp/xpp_vis/src/</path>
    <filename>cartesian__joint__converter_8cc</filename>
    <includes id="cartesian__joint__converter_8h" name="cartesian_joint_converter.h" local="no" imported="no">xpp_vis/cartesian_joint_converter.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>cartesian_joint_converter.h</name>
    <path>/tmp/ws/src/xpp/xpp_vis/include/xpp_vis/</path>
    <filename>cartesian__joint__converter_8h</filename>
    <includes id="inverse__kinematics_8h" name="inverse_kinematics.h" local="yes" imported="no">inverse_kinematics.h</includes>
    <class kind="class">xpp::CartesianJointConverter</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>gtest_main.cc</name>
    <path>/tmp/ws/src/xpp/xpp_vis/test/</path>
    <filename>gtest__main_8cc</filename>
    <member kind="function">
      <type>GTEST_API_ int</type>
      <name>main</name>
      <anchorfile>gtest__main_8cc.html</anchorfile>
      <anchor>a7f83bdc516d2cb86e20235d94ddf055a</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>inverse_kinematics.h</name>
    <path>/tmp/ws/src/xpp/xpp_vis/include/xpp_vis/</path>
    <filename>inverse__kinematics_8h</filename>
    <class kind="class">xpp::InverseKinematics</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>rviz_colors.h</name>
    <path>/tmp/ws/src/xpp/xpp_vis/include/xpp_vis/</path>
    <filename>rviz__colors_8h</filename>
    <class kind="struct">xpp::ColorT</class>
    <namespace>xpp</namespace>
    <member kind="variable" static="yes">
      <type>static ColorT</type>
      <name>color</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a8ddeb15967fbf0f8b3223b79faf8814f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rviz_marker_node.cc</name>
    <path>/tmp/ws/src/xpp/xpp_vis/src/exe/</path>
    <filename>rviz__marker__node_8cc</filename>
    <includes id="rviz__robot__builder_8h" name="rviz_robot_builder.h" local="no" imported="no">xpp_vis/rviz_robot_builder.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>rviz__marker__node_8cc.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ParamsCallback</name>
      <anchorfile>rviz__marker__node_8cc.html</anchorfile>
      <anchor>a77a8238caab846790d1667855781e4f3</anchor>
      <arglist>(const xpp_msgs::RobotParameters &amp;params_msg)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>StateCallback</name>
      <anchorfile>rviz__marker__node_8cc.html</anchorfile>
      <anchor>a794c60e1906833141ef8577c8709b714</anchor>
      <arglist>(const xpp_msgs::RobotStateCartesian &amp;state_msg)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>TerrainInfoCallback</name>
      <anchorfile>rviz__marker__node_8cc.html</anchorfile>
      <anchor>a4ed2ad16906d2446a55b55c2ba96bb50</anchor>
      <arglist>(const xpp_msgs::TerrainInfo &amp;terrain_msg)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static xpp::RvizRobotBuilder</type>
      <name>robot_builder</name>
      <anchorfile>rviz__marker__node_8cc.html</anchorfile>
      <anchor>a2ed7fa22354a6aee9803ad2cb7c73e10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static ros::Publisher</type>
      <name>rviz_marker_pub</name>
      <anchorfile>rviz__marker__node_8cc.html</anchorfile>
      <anchor>a6e8f87546ce6cc7a49f0c3b20913c4c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>rviz_robot_builder.cc</name>
    <path>/tmp/ws/src/xpp/xpp_vis/src/</path>
    <filename>rviz__robot__builder_8cc</filename>
    <includes id="rviz__robot__builder_8h" name="rviz_robot_builder.h" local="no" imported="no">xpp_vis/rviz_robot_builder.h</includes>
    <includes id="rviz__colors_8h" name="rviz_colors.h" local="no" imported="no">xpp_vis/rviz_colors.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>rviz_robot_builder.h</name>
    <path>/tmp/ws/src/xpp/xpp_vis/include/xpp_vis/</path>
    <filename>rviz__robot__builder_8h</filename>
    <class kind="class">xpp::RvizRobotBuilder</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>rviz_robot_builder_test.cc</name>
    <path>/tmp/ws/src/xpp/xpp_vis/test/</path>
    <filename>rviz__robot__builder__test_8cc</filename>
    <includes id="rviz__robot__builder_8h" name="rviz_robot_builder.h" local="no" imported="no">xpp_vis/rviz_robot_builder.h</includes>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>rviz__robot__builder__test_8cc.html</anchorfile>
      <anchor>a7b14bea257b5c8bf9fb285b6e5aeba06</anchor>
      <arglist>(RvizRobotBuilder, BuildRobotState)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>urdf_visualizer.cc</name>
    <path>/tmp/ws/src/xpp/xpp_vis/src/</path>
    <filename>urdf__visualizer_8cc</filename>
    <includes id="urdf__visualizer_8h" name="urdf_visualizer.h" local="no" imported="no">xpp_vis/urdf_visualizer.h</includes>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="file">
    <name>urdf_visualizer.h</name>
    <path>/tmp/ws/src/xpp/xpp_vis/include/xpp_vis/</path>
    <filename>urdf__visualizer_8h</filename>
    <class kind="class">xpp::UrdfVisualizer</class>
    <namespace>xpp</namespace>
  </compound>
  <compound kind="class">
    <name>xpp::CartesianJointConverter</name>
    <filename>classxpp_1_1CartesianJointConverter.html</filename>
    <member kind="function">
      <type></type>
      <name>CartesianJointConverter</name>
      <anchorfile>classxpp_1_1CartesianJointConverter.html</anchorfile>
      <anchor>a0755f8719325c70cf9a631aa90f69109</anchor>
      <arglist>(const InverseKinematics::Ptr &amp;ik, const std::string &amp;cart_topic, const std::string &amp;joint_topic)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CartesianJointConverter</name>
      <anchorfile>classxpp_1_1CartesianJointConverter.html</anchorfile>
      <anchor>abd2308ee9fa3da353613de6de4812ec6</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>StateCallback</name>
      <anchorfile>classxpp_1_1CartesianJointConverter.html</anchorfile>
      <anchor>abd1d028893a0c0d5b93d4de19752a767</anchor>
      <arglist>(const xpp_msgs::RobotStateCartesian &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>cart_state_sub_</name>
      <anchorfile>classxpp_1_1CartesianJointConverter.html</anchorfile>
      <anchor>a3f51a11984ffd98f9c6da1a16fabb58b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>InverseKinematics::Ptr</type>
      <name>inverse_kinematics_</name>
      <anchorfile>classxpp_1_1CartesianJointConverter.html</anchorfile>
      <anchor>a4d5cae481a1c1159d60461b02b5ff91d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>joint_state_pub_</name>
      <anchorfile>classxpp_1_1CartesianJointConverter.html</anchorfile>
      <anchor>a6494f510b8209f306c4999c9e0441ed3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>xpp::ColorT</name>
    <filename>structxpp_1_1ColorT.html</filename>
    <member kind="function">
      <type></type>
      <name>ColorT</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a5036c86cf868a3359947b310db5f4014</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ColorT</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>af0aa6631007a4536374f0fb10deecfdb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>black</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a436acfc7dde0bfd9aa3a065a45ac0c19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>blue</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a5b4b320138402853c60a8d4d30589bcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>brown</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>aac984ed0ab007ed5f9ce9f85fcbe6073</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>dblue</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a387e929a0be974adf00e564bf172e5fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>gray</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a792f8c8c6ab5abf12a238e694843aaee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>green</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a0b0e6a29e80db9f6c67428b9bbb8e5b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>purple</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a795a42b5b0f68138b537dd19d965a027</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>red</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a5c9da24a382849f79cc8b5f365cb6940</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>wheat</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>ae2fd1a2cdfebf4243868e9ca0a9a8372</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>white</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>a97dbb7a2db5140f12cd1dbb61c6eaaea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::ColorRGBA</type>
      <name>yellow</name>
      <anchorfile>structxpp_1_1ColorT.html</anchorfile>
      <anchor>aa8a43832aafdad9de83f72ea748546a0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::InverseKinematics</name>
    <filename>classxpp_1_1InverseKinematics.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; InverseKinematics &gt;</type>
      <name>Ptr</name>
      <anchorfile>classxpp_1_1InverseKinematics.html</anchorfile>
      <anchor>a0796fa912c732612da827c9268cafbd5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Vector3d</type>
      <name>Vector3d</name>
      <anchorfile>classxpp_1_1InverseKinematics.html</anchorfile>
      <anchor>ae52e1898ccdd637b4af269c228799587</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Joints</type>
      <name>GetAllJointAngles</name>
      <anchorfile>classxpp_1_1InverseKinematics.html</anchorfile>
      <anchor>aa8964c5733fc4a737849b23ed4c32a79</anchor>
      <arglist>(const EndeffectorsPos &amp;pos_b) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>GetEECount</name>
      <anchorfile>classxpp_1_1InverseKinematics.html</anchorfile>
      <anchor>ab5b4aad7dddf6e4a235defea279afdd8</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>InverseKinematics</name>
      <anchorfile>classxpp_1_1InverseKinematics.html</anchorfile>
      <anchor>a889c78b43bda714e244d4dfa1111aeda</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~InverseKinematics</name>
      <anchorfile>classxpp_1_1InverseKinematics.html</anchorfile>
      <anchor>ab5b67cef2b133cf5df6928e38790a1bb</anchor>
      <arglist>()=default</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::RvizRobotBuilder</name>
    <filename>classxpp_1_1RvizRobotBuilder.html</filename>
    <member kind="typedef">
      <type>EndeffectorsContact</type>
      <name>ContactState</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aebd97d2c97831f47bc8085e8b63feaee</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Vector3d &gt;</type>
      <name>EEForces</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a9c10e6294bd9947c43db9e6027fe65d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>EndeffectorsPos</type>
      <name>EEPos</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aeb1d973b1ed1e9e81e038b00dff2b071</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>visualization_msgs::Marker</type>
      <name>Marker</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aba0f54f75fccfeb3115b3600121da45b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>visualization_msgs::MarkerArray</type>
      <name>MarkerArray</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a0a673f1b9adbf6fc43f3148205a0192a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Marker &gt;</type>
      <name>MarkerVec</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>ad954f510e49520c4f563fc4524d506c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>RobotStateCartesian</type>
      <name>RobotState</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a846ad21d6cf2707155a6dbd8e54354ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Endeffectors&lt; Vector3d &gt;</type>
      <name>TerrainNormals</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a5be0482fc4f9322bd41731e11be39c1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>MarkerArray</type>
      <name>BuildRobotState</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a572268deb73f76bd70f4ab3609fd713b</anchor>
      <arglist>(const xpp_msgs::RobotStateCartesian &amp;msg) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RvizRobotBuilder</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>adaa2f4a56fbdef9fee4dd2c7fbf11b6d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetRobotParameters</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>afcbf05322f1aa296d1e7ac7dc58911a7</anchor>
      <arglist>(const xpp_msgs::RobotParameters &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetTerrainParameters</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aa8d4c773e7dac599132f78eb8b9a402e</anchor>
      <arglist>(const xpp_msgs::TerrainInfo &amp;msg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RvizRobotBuilder</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a258e1eaa9fbb77a98785e92c0768ab35</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateBasePose</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a41952ef9a9a0438114a602078f387946</anchor>
      <arglist>(const Vector3d &amp;pos, Eigen::Quaterniond ori, const ContactState &amp;c) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateBox</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aa08e81300e9e779c5d70366c8685a3d1</anchor>
      <arglist>(const Vector3d &amp;pos, Eigen::Quaterniond ori, const Vector3d &amp;edge_length) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateCopPos</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a30a1b62c78d3fe918f6d1e8868ac33db</anchor>
      <arglist>(const EEForces &amp;f_W, const EEPos &amp;pos_W) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>MarkerVec</type>
      <name>CreateEEForces</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>afbd255c534c075bb75102fe3e49fd515</anchor>
      <arglist>(const EEForces &amp;f_W, const EEPos &amp;pos_W, const ContactState &amp;c) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>MarkerVec</type>
      <name>CreateEEPositions</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a9747a2f8f4f4437231b4d18ee1e60886</anchor>
      <arglist>(const EEPos &amp;pos_W, const ContactState &amp;c) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateForceArrow</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a1e2792154d978992f0407ca32c3500fb</anchor>
      <arglist>(const Vector3d &amp;f, const Vector3d &amp;pos) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateFrictionCone</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a0c64b838564fd2ec1d02cbade734e00a</anchor>
      <arglist>(const Vector3d &amp;pos_W, const Vector3d &amp;terrain_normal, double friction_coeff) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>MarkerVec</type>
      <name>CreateFrictionCones</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a45b7a99d5d75ccdc5e11c02192ec3529</anchor>
      <arglist>(const EEPos &amp;pos_W, const ContactState &amp;c) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateGravityForce</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>ab59af081347bb047afb7986e4c7d6a8e</anchor>
      <arglist>(const Vector3d &amp;base_pos) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreatePendulum</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aa46360649c288732c987abc9e9f8bcb9</anchor>
      <arglist>(const Vector3d &amp;base_pos, const EEForces &amp;f_W, const EEPos &amp;pos_W) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>MarkerVec</type>
      <name>CreateRangeOfMotion</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a6013cdfbd7a3970ed4911fdac54d6bc4</anchor>
      <arglist>(const State3d &amp;base) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Marker</type>
      <name>CreateSphere</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a9db4184064c60cdc25a91001eaa78bc7</anchor>
      <arglist>(const Vector3d &amp;pos, double diameter=0.03) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>MarkerVec</type>
      <name>CreateSupportArea</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>abdfe94dc20360464e8d38f82fbe82f8b</anchor>
      <arglist>(const ContactState &amp;c, const EEPos &amp;pos_W) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>FillWithInvisible</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>ae51a53a50f763a2b5c8c83734a126399</anchor>
      <arglist>(int max_size, MarkerVec &amp;vec) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>frame_id_</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a07a4a5dd301fe4ecfc66c14b882adf47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>xpp_msgs::RobotParameters</type>
      <name>params_msg_</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a44a01eb2f1c057041e523d325682ccce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>xpp_msgs::TerrainInfo</type>
      <name>terrain_msg_</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>aa003deb91115d6216ed4a846878b20cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static const int</type>
      <name>max_ee_</name>
      <anchorfile>classxpp_1_1RvizRobotBuilder.html</anchorfile>
      <anchor>a64b9a48058f18d31416370e2c7ca78be</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>xpp::UrdfVisualizer</name>
    <filename>classxpp_1_1UrdfVisualizer.html</filename>
    <member kind="typedef">
      <type>std::string</type>
      <name>URDFName</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>ab0efc01bf762141a2d67297c2ccbaf1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::map&lt; URDFName, double &gt;</type>
      <name>UrdfnameToJointAngle</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a30f945a9658ecb749a1a10ad06f40959</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UrdfVisualizer</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a6bbd996415f4078330f2119ac81b7415</anchor>
      <arglist>(const std::string &amp;urdf_name, const std::vector&lt; URDFName &gt; &amp;joint_names_in_urdf, const URDFName &amp;base_link_in_urdf, const std::string &amp;rviz_fixed_frame, const std::string &amp;state_topic, const std::string &amp;tf_prefix=&quot;&quot;)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~UrdfVisualizer</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a01738b16eaca3521eb191063f3b289e1</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" protection="private">
      <type>UrdfnameToJointAngle</type>
      <name>AssignAngleToURDFJointName</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>ae4d0e8bc06647773dc284b2a3ab55bc9</anchor>
      <arglist>(const sensor_msgs::JointState &amp;msg) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>geometry_msgs::TransformStamped</type>
      <name>GetBaseFromRos</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a226e2014c14cffa2feb56e31d7ef242e</anchor>
      <arglist>(const ::ros::Time &amp;stamp, const geometry_msgs::Pose &amp;msg) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>StateCallback</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a1a58988dd9ec595686d57c6e78d856d5</anchor>
      <arglist>(const xpp_msgs::RobotStateJoint &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>URDFName</type>
      <name>base_joint_in_urdf_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a627a74a5f3658747fa15f656b56fa46d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; URDFName &gt;</type>
      <name>joint_names_in_urdf_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a5cfff51bb9a3963783a79bec892b9fb8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; robot_state_publisher::RobotStatePublisher &gt;</type>
      <name>robot_publisher</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>ad33d696342e32a5a3e6112319c799edd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>rviz_fixed_frame_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a3738ddb81df314bd5347cccd3c0fb126</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>state_msg_name_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a16ef73c90df6979a619c0fbd1f6d2648</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>state_sub_des_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a56f590ac93ba73e4cf27bfcb72e461f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformBroadcaster</type>
      <name>tf_broadcaster_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>a47baf6386b18b48c1f84a6a6928cddc5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>tf_prefix_</name>
      <anchorfile>classxpp_1_1UrdfVisualizer.html</anchorfile>
      <anchor>af98552ffe2a5a0beabf8104df2f29bab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>xpp</name>
    <filename>namespacexpp.html</filename>
    <class kind="class">xpp::CartesianJointConverter</class>
    <class kind="struct">xpp::ColorT</class>
    <class kind="class">xpp::InverseKinematics</class>
    <class kind="class">xpp::RvizRobotBuilder</class>
    <class kind="class">xpp::UrdfVisualizer</class>
    <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>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>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::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::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>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>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">
      <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>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" 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>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>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>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>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>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>a9984b25bc31e0b11ff3a382d4bd6b519a19f7c010434d84640dea88c0f01df901</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Z</name>
      <anchorfile>namespacexpp.html</anchorfile>
      <anchor>a463975779bc4c031c8c3d2c3b239453ba7c89693559b79af2a5585c77de158882</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
