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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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      <arglist>()=default</arglist>
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      <arglist>(const std::string &amp;path_in)</arglist>
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      <arglist>(type, path)</arglist>
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      <arglist></arglist>
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      <type>Eigen::VectorXd</type>
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      <arglist>(bool update_traj=true) override</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(int t) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist>(int t) const</arglist>
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      <arglist>(int t)</arglist>
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      <arglist>(int t)</arglist>
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      <arglist>(int column_idx) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(int t) const</arglist>
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      <arglist>(int t)</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
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      <arglist>(const DynamicTimeIndexedShootingProblemInitializer &amp;init) override</arglist>
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      <type>void</type>
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      <arglist>()</arglist>
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      <arglist>() override</arglist>
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      <type>void</type>
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      <arglist>(const double control_cost_weight_in)</arglist>
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      <arglist>(const ControlCostLossTermType &amp;loss_type_in)</arglist>
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      <arglist>(Eigen::MatrixXdRefConst Q_in, int t)</arglist>
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      <arglist>(Eigen::MatrixXdRefConst Q_in)</arglist>
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      <arglist>(const int &amp;T_in)</arglist>
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      <arglist>(Eigen::MatrixXdRefConst U_in)</arglist>
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      <arglist>(Eigen::MatrixXdRefConst X_in)</arglist>
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      <arglist>(Eigen::MatrixXdRefConst X_star_in)</arglist>
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      <arglist>(Eigen::VectorXdRefConst u, int t)</arglist>
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      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, int t)</arglist>
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      <type>void</type>
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      <arglist>(Eigen::VectorXdRefConst x)</arglist>
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      <type>virtual</type>
      <name>~DynamicTimeIndexedShootingProblem</name>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <type>std::vector&lt; Hessian &gt;</type>
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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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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist>(const DynamicTimeIndexedShootingProblemInitializer &amp;init)</arglist>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist>(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, int t)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist>(int &amp;t_in) const</arglist>
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      <type>Eigen::VectorXd</type>
      <name>bimodal_huber_mode1_</name>
      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
      <anchor>a685d4babdaa7a09c28da7039a639312e</anchor>
      <arglist></arglist>
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      <type>Eigen::VectorXd</type>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
      <anchor>a79dce02c450cea7453422125af9895e1</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
      <anchor>a01326a7d97274a439b35291a4b586586</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>control_cost_hessian_</name>
      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
      <anchor>a5d2dedd83c71d58a1dd8f3cb992d616e</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
      <anchor>a6afec58ef487fa33d540c702fb42418b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>control_cost_weight_</name>
      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist></arglist>
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      <type>TaskSpaceVector</type>
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      <anchorfile>classexotica_1_1DynamicTimeIndexedShootingProblem.html</anchorfile>
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      <arglist></arglist>
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      <arglist>() const</arglist>
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      <arglist>(const std::string &amp;link) const</arglist>
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      <arglist>(std::shared_ptr&lt; KinematicElement &gt; element_A, const KDL::Frame &amp;offset_a, std::shared_ptr&lt; KinematicElement &gt; element_B, const KDL::Frame &amp;offset_b) const</arglist>
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      <arglist>(const std::string &amp;element_A, const KDL::Frame &amp;offset_a, const std::string &amp;element_B, const KDL::Frame &amp;offset_b) const</arglist>
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      <arglist>(const std::string &amp;joint_group, robot_model::RobotModelPtr model, const std::string &amp;name)</arglist>
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      <arglist>(std::shared_ptr&lt; KinematicElement &gt; joint)</arglist>
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      <arglist>(const std::string &amp;link_name)</arglist>
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      <arglist>(std::shared_ptr&lt; KinematicElement &gt; element_A, const KDL::Frame &amp;offset_a, std::shared_ptr&lt; KinematicElement &gt; element_B, const KDL::Frame &amp;offset_b) const</arglist>
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      <arglist>(const std::string &amp;element_A, const KDL::Frame &amp;offset_a, const std::string &amp;element_B, const KDL::Frame &amp;offset_b) const</arglist>
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      <arglist>(const std::string &amp;tf_prefix=&quot;exotica&quot;)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;lower, const std::vector&lt; double &gt; &amp;upper, const std::vector&lt; double &gt; &amp;velocity, const std::vector&lt; double &gt; &amp;acceleration)</arglist>
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      <arglist>(Eigen::VectorXdRefConst acceleration_in)</arglist>
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      <arglist>(Eigen::VectorXdRefConst lower_in)</arglist>
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      <arglist>(Eigen::VectorXdRefConst upper_in)</arglist>
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      <arglist>(Eigen::VectorXdRefConst velocity_in)</arglist>
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      <arglist>(std::shared_ptr&lt; KinematicResponse &gt; response_in)</arglist>
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      <arglist>(Eigen::VectorXdRefConst x)</arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist>(const std::map&lt; std::string, double &gt; &amp;x)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;lower, const std::vector&lt; double &gt; &amp;upper)</arglist>
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      <arglist>(const std::vector&lt; double &gt; &amp;lower, const std::vector&lt; double &gt; &amp;upper, const std::vector&lt; double &gt; &amp;velocity, const std::vector&lt; double &gt; &amp;acceleration)</arglist>
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      <arglist>(const uint_fast32_t seed)</arglist>
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      <arglist>(Eigen::VectorXdRefConst x)</arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist>(KDL::SegmentMap::const_iterator segment, std::shared_ptr&lt; KinematicElement &gt; parent)</arglist>
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      <arglist>(const KDL::Tree &amp;RobotKinematics)</arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist>(KinematicFrame &amp;frame, const KDL::Jacobian &amp;jacobian, exotica::Hessian &amp;hessian) const</arglist>
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      <arglist>(KinematicFrame &amp;frame, KDL::Jacobian &amp;jacobian) const</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>Eigen::VectorXd</type>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
      <anchor>a2fe79cc3f5a4c00a2986f88c0bed8f5c</anchor>
      <arglist></arglist>
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      <name>collision_tree_map_</name>
      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classexotica_1_1KinematicTree.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; std::weak_ptr&lt; KinematicElement &gt; &gt;</type>
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      <arglist></arglist>
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      <type>std::map&lt; std::string, std::weak_ptr&lt; KinematicElement &gt; &gt;</type>
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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></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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      <type>Eigen::VectorXd</type>
      <name>GetGoal</name>
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      <arglist>(const std::string &amp;task_name) const</arglist>
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    <member kind="function">
      <type>Eigen::MatrixXd</type>
      <name>GetHessian</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>GetNominalPose</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetRho</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name) const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetScalarCost</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>Eigen::RowVectorXd</type>
      <name>GetScalarJacobian</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetScalarTaskCost</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name) const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetTaskId</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name) const</arglist>
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      <type>void</type>
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      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(const UnconstrainedEndPoseProblemInitializer &amp;init) override</arglist>
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      <type>bool</type>
      <name>IsValid</name>
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      <arglist>() override</arglist>
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      <type>void</type>
      <name>PreUpdate</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>() override</arglist>
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      <type>void</type>
      <name>SetGoal</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, Eigen::VectorXdRefConst goal)</arglist>
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      <type>void</type>
      <name>SetNominalPose</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
      <anchor>a82546a8e83bc7cf01229e481cf62df06</anchor>
      <arglist>(Eigen::VectorXdRefConst qNominal_in)</arglist>
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      <type>void</type>
      <name>SetRho</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, const double &amp;rho)</arglist>
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      <type></type>
      <name>UnconstrainedEndPoseProblem</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist>(Eigen::VectorXdRefConst x)</arglist>
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      <type>virtual</type>
      <name>~UnconstrainedEndPoseProblem</name>
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      <arglist>()</arglist>
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      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist></arglist>
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      <type>Hessian</type>
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      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::MatrixXd</type>
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      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist></arglist>
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      <name>length_jacobian</name>
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      <arglist></arglist>
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      <name>length_Phi</name>
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      <arglist></arglist>
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      <name>num_tasks</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist></arglist>
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      <type>TaskSpaceVector</type>
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      <arglist></arglist>
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      <type>Eigen::VectorXd</type>
      <name>q_nominal</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::MatrixXd</type>
      <name>W</name>
      <anchorfile>classexotica_1_1UnconstrainedEndPoseProblem.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
      <name>get_active_nonlinear_equality_constraints_dimension</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <type>int</type>
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      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <type>int</type>
      <name>get_joint_velocity_constraint_dimension</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <name>GetBounds</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <type>Eigen::VectorXd</type>
      <name>GetEquality</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <type>Eigen::VectorXd</type>
      <name>GetEquality</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(int t) const =delete</arglist>
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    <member kind="function">
      <type>Eigen::SparseMatrix&lt; double &gt;</type>
      <name>GetEqualityJacobian</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <type>Eigen::MatrixXd</type>
      <name>GetEqualityJacobian</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(int t) const =delete</arglist>
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      <type>std::vector&lt; Eigen::Triplet&lt; double &gt; &gt;</type>
      <name>GetEqualityJacobianTriplets</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>GetGoalEQ</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, int t=0)=delete</arglist>
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      <type>Eigen::VectorXd</type>
      <name>GetGoalNEQ</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, int t=0)=delete</arglist>
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      <type>Eigen::VectorXd</type>
      <name>GetInequality</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <type>Eigen::VectorXd</type>
      <name>GetInequality</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(int t) const =delete</arglist>
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      <type>Eigen::SparseMatrix&lt; double &gt;</type>
      <name>GetInequalityJacobian</name>
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      <arglist>() const =delete</arglist>
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      <type>Eigen::MatrixXd</type>
      <name>GetInequalityJacobian</name>
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      <arglist>(int t) const =delete</arglist>
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      <type>std::vector&lt; Eigen::Triplet&lt; double &gt; &gt;</type>
      <name>GetInequalityJacobianTriplets</name>
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      <arglist>() const =delete</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>GetJointVelocityConstraint</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() const =delete</arglist>
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      <name>GetJointVelocityConstraintBounds</name>
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      <arglist>() const =delete</arglist>
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      <type>std::vector&lt; Eigen::Triplet&lt; double &gt; &gt;</type>
      <name>GetJointVelocityConstraintJacobianTriplets</name>
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      <arglist>() const =delete</arglist>
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    <member kind="function">
      <type>Eigen::VectorXd</type>
      <name>GetJointVelocityLimits</name>
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      <arglist>() const =delete</arglist>
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      <type>double</type>
      <name>GetRhoEQ</name>
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      <arglist>(const std::string &amp;task_name, int t=0)=delete</arglist>
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      <type>double</type>
      <name>GetRhoNEQ</name>
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      <arglist>(const std::string &amp;task_name, int t=0)=delete</arglist>
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      <arglist>(const UnconstrainedTimeIndexedProblemInitializer &amp;init) override</arglist>
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      <arglist>() override</arglist>
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      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>() override</arglist>
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      <name>SetGoalEQ</name>
      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, Eigen::VectorXdRefConst goal, int t=0)=delete</arglist>
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      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, Eigen::VectorXdRefConst goal, int t=0)=delete</arglist>
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      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(const Eigen::VectorXd &amp;qdot_max_in)=delete</arglist>
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      <arglist>(const std::string &amp;task_name, const double rho, int t=0)=delete</arglist>
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      <anchorfile>classexotica_1_1UnconstrainedTimeIndexedProblem.html</anchorfile>
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      <arglist>(const std::string &amp;task_name, const double rho, int t=0)=delete</arglist>
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      <arglist>()=default</arglist>
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      <arglist>(Eigen::VectorXdRefConst x_in, int t) override</arglist>
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      <arglist>()=default</arglist>
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      <arglist>() override</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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