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      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>ab1d08b7ef621572777089a5993c7258e</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const KinematicsQueryOptions &amp;options=KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>aa34c02b13bebb6ab7ca6d0c099b72588</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const KinematicsQueryOptions &amp;options=KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~CachedIKKinematicsPlugin</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>a4ea62ff4506ba8e1f94aedd5a4e93103</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>initCache</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>af27da761ca5452887ed36ab38d28de44</anchor>
      <arglist>(const std::string &amp;robot_id, const std::string &amp;group_name, const std::string &amp;cache_name)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::enable_if&lt; hasRobotModelAPI&lt; T &gt;::value, bool &gt;::type</type>
      <name>initializeImpl</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>a05c2dfb97d92893bc68372a56e2052bf</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::enable_if&lt;!hasRobotModelAPI&lt; T &gt;::value, bool &gt;::type</type>
      <name>initializeImpl</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>a915321bf2a96c3bfd5de8dbd482b3c33</anchor>
      <arglist>(const moveit::core::RobotModel &amp;, const std::string &amp;, const std::string &amp;, const std::vector&lt; std::string &gt; &amp;, double)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::enable_if&lt; hasRobotDescAPI&lt; T &gt;::value, bool &gt;::type</type>
      <name>initializeImpl</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>a0bf9af06574ce62b27d7036e4f9d1d06</anchor>
      <arglist>(const std::string &amp;robot_description, const std::string &amp;group_name, const std::string &amp;base_frame, const std::string &amp;tip_frame, double search_discretization)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::enable_if&lt;!hasRobotDescAPI&lt; T &gt;::value, bool &gt;::type</type>
      <name>initializeImpl</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>a41372fab4f3772e461969d8f9936a2f4</anchor>
      <arglist>(const std::string &amp;, const std::string &amp;, const std::string &amp;, const std::string &amp;, double)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>IKCache</type>
      <name>cache_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedIKKinematicsPlugin.html</anchorfile>
      <anchor>a6af5126266d7f06f99b3b8ebedfa6dce</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin</name>
    <filename>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</filename>
    <templarg></templarg>
    <base>cached_ik_kinematics_plugin::CachedIKKinematicsPlugin</base>
    <member kind="typedef">
      <type>kinematics::KinematicsBase::IKCallbackFn</type>
      <name>IKCallbackFn</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>ace0ba2dcb99a788eff4d2a2727f96934</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>IKCache::IKEntry</type>
      <name>IKEntry</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>add992c94820db4cb61de2272ccecd718</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>kinematics::KinematicsQueryOptions</type>
      <name>KinematicsQueryOptions</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>ab244352511e7201ecf989ace76f85a57</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>IKCache::Pose</type>
      <name>Pose</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>a60caa5e6841c3a866262f20202f8f121</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>ae1c934473413051cba538d9a3e90214c</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>ac59006cf206b9ec252f964753ec2462c</anchor>
      <arglist>(const std::string &amp;robot_description, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1CachedMultiTipIKKinematicsPlugin.html</anchorfile>
      <anchor>ac6aea1abc707ff12563b20a0c51804cb</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Pose &gt; &amp;ik_poses, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const KinematicsQueryOptions &amp;options=KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainIkSolverVelMimicSVD</name>
    <filename>classKDL_1_1ChainIkSolverVelMimicSVD.html</filename>
    <base>KDL::ChainIkSolverVel</base>
    <member kind="function">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>a3ef0316168de81a0db784f72ac78635a</anchor>
      <arglist>(const JntArray &amp;q_in, const Twist &amp;v_in, JntArray &amp;qdot_out) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>a93c95ef223509dcb0c401f7cd26f9603</anchor>
      <arglist>(const JntArray &amp;q_in, const Twist &amp;v_in, JntArray &amp;qdot_out, const Eigen::VectorXd &amp;joint_weights, const Eigen::Matrix&lt; double, 6, 1 &gt; &amp;cartesian_weights)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>aa1b28bb68c0c9a02e875273345b386f7</anchor>
      <arglist>(const JntArray &amp;, const FrameVel &amp;, JntArrayVel &amp;) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChainIkSolverVelMimicSVD</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>ad7f48db767016238623217c50248087e</anchor>
      <arglist>(const Chain &amp;chain_, const std::vector&lt; kdl_kinematics_plugin::JointMimic &gt; &amp;mimic_joints, bool position_ik=false, double threshold=0.001)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isPositionOnly</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>ae3c5e3b88082ff1fb96b7116d5bf74f3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>a53fea2aaf010317c765855ab4a8f3b52</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainIkSolverVelMimicSVD</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>acc8c961cd0489ffacdf8229dcbf3c3cb</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>jacToJacReduced</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>af48dba9b2c9907152b8334d9e0298f28</anchor>
      <arglist>(const Jacobian &amp;jac, Jacobian &amp;jac_reduced)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>af20f288c058a15b16abb23dae3466e2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jac_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>ae75d428a3b444bb987911f529e3379b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jac_reduced_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>a0af59fcdcc04311c08db9f0a0e78b201</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ChainJntToJacSolver</type>
      <name>jnt2jac_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>a25c0ceb617c726ebbb517c948e01d80b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const std::vector&lt; kdl_kinematics_plugin::JointMimic &gt; &amp;</type>
      <name>mimic_joints_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>ae0ff8a1c6d2e87870e6dcb61fa8a521d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>num_mimic_joints_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>ad4c31a692788edd917184a74fb2870f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>qdot_out_reduced_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>aaba2de81bf22355f1eadf28f0e3b9f3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::JacobiSVD&lt; Eigen::MatrixXd &gt;</type>
      <name>svd_</name>
      <anchorfile>classKDL_1_1ChainIkSolverVelMimicSVD.html</anchorfile>
      <anchor>a982b8ebb2ea5ed39a3dd2853b745b5b1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cached_ik_kinematics_plugin::GreedyKCenters</name>
    <filename>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</filename>
    <templarg>_T</templarg>
    <member kind="typedef">
      <type>std::function&lt; double(const _T &amp;, const _T &amp;)&gt;</type>
      <name>DistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>ac974b47add6d6c1285242c2dfbe671a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::numeric::ublas::matrix&lt; double &gt;</type>
      <name>Matrix</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>ae3ed98eaadd2a0b4deb1cac34b1d2cd4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const DistanceFunction &amp;</type>
      <name>getDistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a20d8d20a07afb9ffb1e240a9836fa1bb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GreedyKCenters</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a9359cfbf8cbf19b48e977ddbf15164ef</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>kcenters</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a412aefdb18ea8fac3cd9b45f05cc9dad</anchor>
      <arglist>(const std::vector&lt; _T &gt; &amp;data, unsigned int k, std::vector&lt; unsigned int &gt; &amp;centers, Matrix &amp;dists)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a92c525e1decf7d710f673553c4cf8d6b</anchor>
      <arglist>(const DistanceFunction &amp;distFun)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GreedyKCenters</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a157b94d1710c6d4045822dce88ca6d1b</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DistanceFunction</type>
      <name>distFun_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>af21e1d4786fa38a514f410049af12b37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::mt19937</type>
      <name>generator_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>aa05b1850860ac83932491f8f03e74a40</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GreedyKCenters&lt; IKEntry *&gt;</name>
    <filename>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</filename>
    <member kind="typedef">
      <type>std::function&lt; double(const IKEntry * &amp;, const IKEntry * &amp;)&gt;</type>
      <name>DistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>ac974b47add6d6c1285242c2dfbe671a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::numeric::ublas::matrix&lt; double &gt;</type>
      <name>Matrix</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>ae3ed98eaadd2a0b4deb1cac34b1d2cd4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const DistanceFunction &amp;</type>
      <name>getDistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a20d8d20a07afb9ffb1e240a9836fa1bb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GreedyKCenters</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a9359cfbf8cbf19b48e977ddbf15164ef</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>kcenters</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a412aefdb18ea8fac3cd9b45f05cc9dad</anchor>
      <arglist>(const std::vector&lt; IKEntry * &gt; &amp;data, unsigned int k, std::vector&lt; unsigned int &gt; &amp;centers, Matrix &amp;dists)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a92c525e1decf7d710f673553c4cf8d6b</anchor>
      <arglist>(const DistanceFunction &amp;distFun)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GreedyKCenters</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>a157b94d1710c6d4045822dce88ca6d1b</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DistanceFunction</type>
      <name>distFun_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>af21e1d4786fa38a514f410049af12b37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::mt19937</type>
      <name>generator_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1GreedyKCenters.html</anchorfile>
      <anchor>aa05b1850860ac83932491f8f03e74a40</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>cached_ik_kinematics_plugin::hasRobotDescAPI</name>
    <filename>structcached__ik__kinematics__plugin_1_1hasRobotDescAPI.html</filename>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>cached_ik_kinematics_plugin::hasRobotDescAPI&lt; KinematicsPlugin, decltype(std::declval&lt; KinematicsPlugin &amp; &gt;().KinematicsPlugin::initialize(std::string(), std::string(), std::string(), std::vector&lt; std::string &gt;(), 0.0))&gt;</name>
    <filename>structcached__ik__kinematics__plugin_1_1hasRobotDescAPI_3_01KinematicsPlugin_00_01decltype_07std7ce635fbb0f8af1f7ee21e0e152edf69.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>cached_ik_kinematics_plugin::hasRobotModelAPI</name>
    <filename>structcached__ik__kinematics__plugin_1_1hasRobotModelAPI.html</filename>
    <templarg></templarg>
    <templarg></templarg>
  </compound>
  <compound kind="struct">
    <name>cached_ik_kinematics_plugin::hasRobotModelAPI&lt; KinematicsPlugin, decltype(std::declval&lt; KinematicsPlugin &amp; &gt;().initialize(std::declval&lt; const moveit::core::RobotModel &amp; &gt;(), std::string(), std::string(), std::vector&lt; std::string &gt;(), 0.0))&gt;</name>
    <filename>structcached__ik__kinematics__plugin_1_1hasRobotModelAPI_3_01KinematicsPlugin_00_01decltype_07st2f61b9e9347629f23cc985c52e344502.html</filename>
    <templarg></templarg>
  </compound>
  <compound kind="class">
    <name>cached_ik_kinematics_plugin::IKCache</name>
    <filename>classcached__ik__kinematics__plugin_1_1IKCache.html</filename>
    <class kind="struct">cached_ik_kinematics_plugin::IKCache::Options</class>
    <class kind="struct">cached_ik_kinematics_plugin::IKCache::Pose</class>
    <member kind="typedef">
      <type>std::pair&lt; std::vector&lt; Pose &gt;, std::vector&lt; double &gt; &gt;</type>
      <name>IKEntry</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
      <anchor>a23f18956734fcbf8b5ea9441d649022d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>const IKEntry &amp;</type>
      <name>getBestApproximateIKSolution</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
      <anchor>a2338d0807017d38eca7479bd88e0eb86</anchor>
      <arglist>(const Pose &amp;pose) const</arglist>
    </member>
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      <arglist>(const std::vector&lt; Pose &gt; &amp;poses) const</arglist>
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      <name>IKCache</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
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      <arglist>()</arglist>
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      <name>IKCache</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
      <anchor>acb353092a58a3844e1cf9802cbdd8f68</anchor>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
      <anchor>a4402029095bd5e330f94ffe6636dcee3</anchor>
      <arglist>(const IKEntry &amp;nearest, const std::vector&lt; Pose &gt; &amp;poses, const std::vector&lt; double &gt; &amp;config) const</arglist>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
      <anchor>a4fa715657b2c6e09b241f029789191fe</anchor>
      <arglist>(kdl_kinematics_plugin::KDLKinematicsPlugin &amp;fk) const</arglist>
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      <name>~IKCache</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
      <anchor>a7421dbc9133656746712d76450d1bece</anchor>
      <arglist>()</arglist>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCache.html</anchorfile>
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      <arglist>(const std::vector&lt; double &gt; &amp;config1, const std::vector&lt; double &gt; &amp;config2) const</arglist>
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      <arglist>() const</arglist>
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      <anchor>a713eae8c0aa05ba13e2fde7377dc2cc2</anchor>
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      <arglist></arglist>
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      <anchor>a12b44975d7526c66c1ca461c2faccb03</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>IKCache::IKEntry</type>
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      <anchor>a6c8e36a5aa166ee312210a392ce4845b</anchor>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>a1c9cd3918b2eebd6ab2a358e3c04b17c</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;fixed, const std::vector&lt; std::string &gt; &amp;active, const std::vector&lt; Pose &gt; &amp;poses) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKCacheMap</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>ae2f6450dd5966b9b7246cf9c278d0b72</anchor>
      <arglist>(const std::string &amp;robot_description, const std::string &amp;group_name, unsigned int num_joints)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>updateCache</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>a7f1f52746231088a6f2a8abb0bc2ae52</anchor>
      <arglist>(const IKEntry &amp;nearest, const std::vector&lt; std::string &gt; &amp;fixed, const std::vector&lt; std::string &gt; &amp;active, const std::vector&lt; Pose &gt; &amp;poses, const std::vector&lt; double &gt; &amp;config)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~IKCacheMap</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>aa5cf2c52ad0f014182a71bd7e76301c0</anchor>
      <arglist>()</arglist>
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      <type>std::string</type>
      <name>getKey</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>a5f656e40c8782953761c53886d5aa1e8</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;fixed, const std::vector&lt; std::string &gt; &amp;active) const</arglist>
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      <type>std::string</type>
      <name>group_name_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>a21841d6d9255df2e40006ba42b075149</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>num_joints_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
      <anchor>a23a93849a0c09e0d3052d9d94dc2c257</anchor>
      <arglist></arglist>
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      <type>std::string</type>
      <name>robot_description_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1IKCacheMap.html</anchorfile>
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      <arglist></arglist>
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    <templarg></templarg>
    <member kind="typedef">
      <type>void(*</type>
      <name>ComputeFkFn</name>
      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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      <arglist>)(const T *, T *, T *)</arglist>
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    <member kind="typedef">
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      <name>ComputeIkFn</name>
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      <arglist>)(const T *, const T *, const T *, IkSolutionListBase&lt; T &gt; &amp;)</arglist>
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      <type>int *(*</type>
      <name>GetFreeParametersFn</name>
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      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>const char *(*</type>
      <name>GetIkFastVersionFn</name>
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      <arglist>)()</arglist>
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    <member kind="typedef">
      <type>int(*</type>
      <name>GetIkRealSizeFn</name>
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      <arglist>)()</arglist>
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      <type>int(*</type>
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      <arglist>)()</arglist>
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      <arglist>)()</arglist>
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      <arglist>)()</arglist>
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      <type>int(*</type>
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      <arglist>)()</arglist>
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      <name>IkFastFunctions</name>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>ComputeFkFn</type>
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      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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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">
      <type>GetIkFastVersionFn</type>
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      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>GetNumFreeParametersFn</type>
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      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classikfast_1_1IkFastFunctions.html</anchorfile>
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      <arglist></arglist>
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    <base>kinematics::KinematicsBase</base>
    <member kind="function">
      <type>bool</type>
      <name>getPositionFK</name>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a3c1171df76ba59663bd022141871174e</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a4cf8dfa7d17b692cb7499cd103a629c6</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Pose &gt; &amp;ik_poses, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; std::vector&lt; double &gt;&gt; &amp;solutions, kinematics::KinematicsResult &amp;result, const kinematics::KinematicsQueryOptions &amp;options) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IKFastKinematicsPlugin</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ac803568777e8a3ff370a459bf752b4a1</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a47d29041071bfd3bafc7923f5cec8c69</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a7d6d717516e50539d0fef2f0a36770fb</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ab378a56e4f810a65ba3cc706085b8f61</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a8afff0bd694d127e31de91a0de776c3f</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setRedundantJoints</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>abccb3cead798ca5b1381f18033f1993e</anchor>
      <arglist>(const std::vector&lt; unsigned int &gt; &amp;redundant_joint_indices) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSearchDiscretization</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ad207f407c2f6fad900b834c64611d143</anchor>
      <arglist>(const std::map&lt; unsigned int, double &gt; &amp;discretization)</arglist>
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    <member kind="function" protection="private">
      <type>bool</type>
      <name>computeRelativeTransform</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a09bc6e4a363e30ded5ae6c11b60ca9a3</anchor>
      <arglist>(const std::string &amp;from, const std::string &amp;to, Eigen::Isometry3d &amp;transform, bool &amp;differs_from_identity)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>enforceLimits</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a290d7eb09b808db561e1731a9108f844</anchor>
      <arglist>(double val, double min, double max) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>fillFreeParams</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ad2dbd9f5c22caad03d4af775069354a2</anchor>
      <arglist>(int count, int *array)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>getCount</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist>(int &amp;count, const int &amp;max_count, const int &amp;min_count) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a39552d09340de179f0ddd56f96ae7b4f</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aeb688629181d5fc78eb4646a62001b64</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a845ed4635cfcd03b332386e17a230603</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, int i, std::vector&lt; double &gt; &amp;solution) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getSolution</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aae13c56f2e1dcce2a4d65b811bb58b65</anchor>
      <arglist>(const IkSolutionList&lt; IkReal &gt; &amp;solutions, const std::vector&lt; double &gt; &amp;ik_seed_state, int i, std::vector&lt; double &gt; &amp;solution) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a1595b5eef16c1cb6cf7e8e8042b842c4</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>sampleRedundantJoint</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a8e9d1c841fd7dec89687378cbf964263</anchor>
      <arglist>(kinematics::DiscretizationMethod method, std::vector&lt; double &gt; &amp;sampled_joint_vals) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>size_t</type>
      <name>solve</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>ad761cb0faf5e866f14f746f553a7478f</anchor>
      <arglist>(KDL::Frame &amp;pose_frame, const std::vector&lt; double &gt; &amp;vfree, IkSolutionList&lt; IkReal &gt; &amp;solutions) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>transformToChainFrame</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a684f56369b4f92e75837fb537e726137</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, KDL::Frame &amp;ik_pose_chain) const</arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a99bd8ba20b063ba5e66832b869737ebf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
      <name>chain_base_to_group_base_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aa5ac9be647262e7b49c40b06ca31e161</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>free_params_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::Isometry3d</type>
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      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>add78c1c69d176b86316a92ada413a73b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>IKFAST_BASE_FRAME_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a873265a23b37c5b92345799e51bfd279</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <name>IKFAST_TIP_FRAME_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a90ce27be260817847629dbb8911090f4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; bool &gt;</type>
      <name>joint_has_limits_vector_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>acb9f480603a82ddf69e14f15bc4df757</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_max_vector_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aecd80d8d3a1d6738c0208f8c7c08b714</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_min_vector_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>a09fcc22134666a579a3b2b698eca2b8b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joint_names_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>link_names_</name>
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      <anchor>addcc7f88aa848e8b0af9781ef090896a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
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      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>name_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const size_t</type>
      <name>num_joints_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>afa6f69fe614d518e6bdbb3ae447685f6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>tip_transform_required_</name>
      <anchorfile>class__NAMESPACE___1_1IKFastKinematicsPlugin.html</anchorfile>
      <anchor>aa5ddab4d021e1b519d39cbff3bbeee21</anchor>
      <arglist></arglist>
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    <name>ikfast::IkSingleDOFSolutionBase</name>
    <filename>classikfast_1_1IkSingleDOFSolutionBase.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>IkSingleDOFSolutionBase</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>aa3c37c6e9a4903f1303893e966260789</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
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      <name>fmul</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>T</type>
      <name>foffset</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
      <anchor>a1d5900ae9cb2d55c396b995b976fdcef</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>[5]</arglist>
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    <member kind="variable">
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      <name>jointtype</name>
      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>classikfast_1_1IkSingleDOFSolutionBase.html</anchorfile>
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      <arglist></arglist>
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    <name>ikfast::IkSolution</name>
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    <templarg></templarg>
    <base>ikfast::IkSolutionBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const std::vector&lt; int &gt; &amp;</type>
      <name>GetFree</name>
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      <anchor>a6565d27370b7fe391efaa64a18e87afc</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ae8891fda83002a94c74a80ab9784679e</anchor>
      <arglist>(T *solution, const T *freevalues) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>ab0258a9b42c720194e13953e631c9b8b</anchor>
      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetSolutionIndices</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist>(std::vector&lt; unsigned int &gt; &amp;v) const</arglist>
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      <name>IkSolution</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
      <anchor>a6b76af506a24ba4b78b1c9d3dc110a72</anchor>
      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="variable">
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      <name>_vbasesol</name>
      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classikfast_1_1IkSolution.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>GetDOF</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>(T *solution, const T *freevalues) const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>(std::vector&lt; T &gt; &amp;solution, const std::vector&lt; T &gt; &amp;freevalues) const</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~IkSolutionBase</name>
      <anchorfile>classikfast_1_1IkSolutionBase.html</anchorfile>
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      <arglist>()</arglist>
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    <templarg></templarg>
    <base>ikfast::IkSolutionListBase</base>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>AddSolution</name>
      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>(const std::vector&lt; IkSingleDOFSolutionBase&lt; T &gt; &gt; &amp;vinfos, const std::vector&lt; int &gt; &amp;vfree)</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classikfast_1_1IkSolutionList.html</anchorfile>
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      <arglist>(size_t index) const</arglist>
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    <member kind="variable" protection="protected">
      <type>std::list&lt; IkSolution&lt; T &gt; &gt;</type>
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      <arglist></arglist>
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    <templarg>T</templarg>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>AddSolution</name>
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    <member kind="function" virtualness="pure">
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      <arglist>()=0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>(size_t index) const =0</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>JointMimic</name>
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      <arglist>()</arglist>
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      <arglist>(unsigned int index)</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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    <base>kinematics::KinematicsBase</base>
    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a699ee108b70be2136d5e5de918454e8e</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>aa9f87f44d55320993cfb66cf12d10829</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionFK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a45cdfe0d3e4f81d667a24b667ebab39f</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionIK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a0c57d84b74fd09d6226447546c305f37</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a957db69c687b258bf696587bedd0cf2c</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KDLKinematicsPlugin</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>aa18064a90c94e000324d7dbb14a61f26</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>abad592153d0524b4713cba4772af9e22</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a48016c78888696cdc22d670344f152f0</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>ac34a16e74f5bd2d161a12191b29fc818</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a2091b8a5a188c083d251c5067517306f</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Twist</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>af1e9853683a46c8a5b76ccd99e2379df</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>adbf4b942bf7f2fad2b79326db024dfe2</anchor>
      <arglist>(KDL::ChainIkSolverVelMimicSVD &amp;ik_solver, const KDL::JntArray &amp;q_init, const KDL::Frame &amp;p_in, KDL::JntArray &amp;q_out, const unsigned int max_iter, const Eigen::VectorXd &amp;joint_weights, const Twist &amp;cartesian_weights) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>aee6517cf00dfd0d46a2dc9948eff5e37</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const std::vector&lt; double &gt; &amp;consistency_limits, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>checkConsistency</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>afd8c13abc36fdda10f0359c323a667ec</anchor>
      <arglist>(const Eigen::VectorXd &amp;seed_state, const std::vector&lt; double &gt; &amp;consistency_limits, const Eigen::VectorXd &amp;solution) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>clipToJointLimits</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>aa579a7514def9ce679a158c08837b2cf</anchor>
      <arglist>(const KDL::JntArray &amp;q, KDL::JntArray &amp;q_delta, Eigen::ArrayXd &amp;weighting) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getJointWeights</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a9418216ad69a6d073a3cb15ff369ab07</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getRandomConfiguration</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a61bb0b9a97ce4e094b98b01827a73cc7</anchor>
      <arglist>(Eigen::VectorXd &amp;jnt_array) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getRandomConfiguration</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a321e5e970d7bd11a2900139b124a2169</anchor>
      <arglist>(const Eigen::VectorXd &amp;seed_state, const std::vector&lt; double &gt; &amp;consistency_limits, Eigen::VectorXd &amp;jnt_array) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>timedOut</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a95d6de7a68bdb7bbe137b18e22c1d29c</anchor>
      <arglist>(const ros::WallTime &amp;start_time, double duration) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>dimension_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a54e7e0ca3231f3242a3e9dac7ae26676</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>epsilon_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a2b340437bf328c683734e46a342a3bc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; KDL::ChainFkSolverPos &gt;</type>
      <name>fk_solver_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a276d902f59226248e69bfe03c27a354e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>ae24fd31a7485341c527bbefb60221841</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>joint_max_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>ae7274048d9113eb4afc942ac6062c0c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>joint_min_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>abe6419bfedb59719b86324edce0ac17d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const robot_model::JointModelGroup *</type>
      <name>joint_model_group_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a5a21edbcf7cc9735be57722ed90db4fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>joint_weights_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a674f3767a75d89b9609b18621252f448</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>KDL::Chain</type>
      <name>kdl_chain_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a1030bd3ac7cee01e3b5c7939ee134d85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>max_solver_iterations_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a18339156d823a541a8d0d8e85a939cb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; JointMimic &gt;</type>
      <name>mimic_joints_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>ac5415eb1e7d9c6242db8dd2dfbc71cd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>orientation_vs_position_weight_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>af36a364918d7b2dffadc214efbd48e92</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>moveit_msgs::KinematicSolverInfo</type>
      <name>solver_info_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>a120b83dcc22f411a036d2c446c603694</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robot_state::RobotStatePtr</type>
      <name>state_</name>
      <anchorfile>classkdl__kinematics__plugin_1_1KDLKinematicsPlugin.html</anchorfile>
      <anchor>ab5e5ceb7222afcbc7a0f08fc52c02c01</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KinematicsTest</name>
    <filename>classKinematicsTest.html</filename>
    <member kind="function">
      <type>testing::AssertionResult</type>
      <name>expectNearHelper</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a0fb3cf6bbecda2141c536e4aa3f423f3</anchor>
      <arglist>(const char *expr1, const char *expr2, const char *abs_error_expr, const std::vector&lt; geometry_msgs::Pose &gt; &amp;val1, const std::vector&lt; geometry_msgs::Pose &gt; &amp;val2, double abs_error)</arglist>
    </member>
    <member kind="function">
      <type>testing::AssertionResult</type>
      <name>isNear</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>af042ec8fa6e17492d50ec5757a3be343</anchor>
      <arglist>(const char *expr1, const char *expr2, const char *abs_error_expr, const geometry_msgs::Point &amp;val1, const geometry_msgs::Point &amp;val2, double abs_error)</arglist>
    </member>
    <member kind="function">
      <type>testing::AssertionResult</type>
      <name>isNear</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a4a4041832e0b8598be880174d458b206</anchor>
      <arglist>(const char *expr1, const char *expr2, const char *abs_error_expr, const geometry_msgs::Quaternion &amp;val1, const geometry_msgs::Quaternion &amp;val2, double abs_error)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>searchIKCallback</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a9673ea6faa393a90a9ce31b36dcf427e</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;joint_state, moveit_msgs::MoveItErrorCodes &amp;error_code)</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>consistency_limits_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a5a2b711be549c628fe3ce7f7d13db117</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>group_name_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a47f5fb4ec5bd511ea9bc4b8ab34b4702</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>robot_model::JointModelGroup *</type>
      <name>jmg_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a17255098d9191e684d548681ecbc1e79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; std::string &gt;</type>
      <name>joints_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ada4a5befe5abd98b1013e3610bfed415</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>kinematics::KinematicsBasePtr</type>
      <name>kinematics_solver_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ac044850c8c4029406eba337356e691a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>num_fk_tests_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ad52695693d37128419c712348c4d5a25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>num_ik_cb_tests_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ad8e3b53e05d6d38e4669519e089cc16b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned int</type>
      <name>num_ik_multiple_tests_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>aa2e7749ce0a3335b0e7bdc4f93bd5d4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>num_ik_tests_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>abee08d3baf4c9c4098b055ac5b5a5ab6</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned int</type>
      <name>num_nearest_ik_tests_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ad15e8a660c84f6134025b69acf3065a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>random_numbers::RandomNumberGenerator</type>
      <name>rng_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a8f49715c8c84edd37779dba9038272a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>robot_model::RobotModelPtr</type>
      <name>robot_model_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ab4fbcbb3d9a52ff046b1e678ce401482</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>root_link_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a6699d5766c87ff97865b75af3bf123b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>seed_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>aab7018b609077e0c2070bcadee05dcb2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>timeout_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a7246c3f56c3c4ea854290ad04698922c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>tip_link_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>af4d5fcdfb14e08b04b98226f22ef03ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>tolerance_</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a4b5114ddcf4672bee156f3bd676d2332</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>operator=</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>ac8331c67c3c89684870f7ce482bb4862</anchor>
      <arglist>(const SharedData &amp;data)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetUp</name>
      <anchorfile>classKinematicsTest.html</anchorfile>
      <anchor>a45da40b9c7d899058bad089d68479298</anchor>
      <arglist>() override</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>_NAMESPACE_::LimitObeyingSol</name>
    <filename>struct__NAMESPACE___1_1LimitObeyingSol.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>operator&lt;</name>
      <anchorfile>struct__NAMESPACE___1_1LimitObeyingSol.html</anchorfile>
      <anchor>a26ac5ff26c24adca43a5a4ade5404d99</anchor>
      <arglist>(const LimitObeyingSol &amp;a) const</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dist_from_seed</name>
      <anchorfile>struct__NAMESPACE___1_1LimitObeyingSol.html</anchorfile>
      <anchor>a61c0dff024134615953113977d0068b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>value</name>
      <anchorfile>struct__NAMESPACE___1_1LimitObeyingSol.html</anchorfile>
      <anchor>a225ddb7c60f58822e79a418eef9e4a09</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>lma_kinematics_plugin::LMAKinematicsPlugin</name>
    <filename>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</filename>
    <base>kinematics::KinematicsBase</base>
    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getJointNames</name>
      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>a05e3d763c8d89d32d7a089beef356467</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getLinkNames</name>
      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>afd24cc8593399f7c4de9dc1a4695d283</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPositionFK</name>
      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>a4a9e5475bb39771f242370e746bb7e5d</anchor>
      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
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      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_frame, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
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    <member kind="function">
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      <name>LMAKinematicsPlugin</name>
      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>a031943f0e3b52aada82a8ab181843eee</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>aa89b89ecaebf9bda8f18053e4ea39c35</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function">
      <type>bool</type>
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      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>searchPositionIK</name>
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      <anchor>aa1986348a058430187900ea5fb7edcd0</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const std::vector&lt; double &gt; &amp;consistency_limits, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const</arglist>
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      <anchor>a297006625ef1b501eda99025ca23fc6c</anchor>
      <arglist>(const Eigen::VectorXd &amp;seed_state, const std::vector&lt; double &gt; &amp;consistency_limits, const Eigen::VectorXd &amp;solution) const</arglist>
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      <arglist>(const Eigen::VectorXd &amp;seed_state, const std::vector&lt; double &gt; &amp;consistency_limits, Eigen::VectorXd &amp;jnt_array) const</arglist>
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      <arglist>(Eigen::VectorXd &amp;values) const</arglist>
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      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
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      <arglist>(const Eigen::VectorXd &amp;values) const</arglist>
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      <arglist>(const ros::WallTime &amp;start_time, double duration) const</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchor>a33bff699e3d453bce6aca6f0789abd0a</anchor>
      <arglist></arglist>
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      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>a054c7798c452a6969d3f7fb3f40b1daf</anchor>
      <arglist></arglist>
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      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
      <anchor>a12ca00f8268a304892af3c92260ea337</anchor>
      <arglist></arglist>
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      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classlma__kinematics__plugin_1_1LMAKinematicsPlugin.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::function&lt; double(const _T &amp;, const _T &amp;)&gt;</type>
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      <arglist>(const std::vector&lt; _T &gt; &amp;data)</arglist>
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      <arglist>()=0</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const _T &amp;data) const =0</arglist>
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      <arglist>()=default</arglist>
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      <arglist>() const =0</arglist>
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    <name>cached_ik_kinematics_plugin::NearestNeighborsGNAT</name>
    <filename>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</filename>
    <templarg>_T</templarg>
    <base>cached_ik_kinematics_plugin::NearestNeighbors</base>
    <class kind="class">cached_ik_kinematics_plugin::NearestNeighborsGNAT::Node</class>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a4ebc0f937a1d95cf2ac1701946a3787e</anchor>
      <arglist>(const _T &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ab8c846f6826240728f8f5331fab12a98</anchor>
      <arglist>(const std::vector&lt; _T &gt; &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a50d17588bd1b89d96349187df26901db</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrityCheck</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a2c754c4e123d721f3e7c3054e4c47060</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>list</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a2532c0ef3ece366f6ec7228b48239004</anchor>
      <arglist>(std::vector&lt; _T &gt; &amp;data) const override</arglist>
    </member>
    <member kind="function">
      <type>_T</type>
      <name>nearest</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ae251d568d7203e825bf490f1b4835e3b</anchor>
      <arglist>(const _T &amp;data) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nearestK</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ad868a902d012049dd98b6a30f558f724</anchor>
      <arglist>(const _T &amp;data, std::size_t k, std::vector&lt; _T &gt; &amp;nbh) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>NearestNeighborsGNAT</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>aa6d3ef5c6d07de8a24f1d055c1e40a17</anchor>
      <arglist>(unsigned int degree=8, unsigned int minDegree=4, unsigned int maxDegree=12, unsigned int maxNumPtsPerLeaf=50, unsigned int removedCacheSize=500, bool rebalancing=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nearestR</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a44882365239a83d1a2264f81cbebf26d</anchor>
      <arglist>(const _T &amp;data, double radius, std::vector&lt; _T &gt; &amp;nbh) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rebuildDataStructure</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a40e469f4ed24eef96596e16d62eeda8e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>remove</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a4128551b583de3fdc7948c1e746e09f3</anchor>
      <arglist>(const _T &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>reportsSortedResults</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ac67eda3f0a15710b5c850ec71df948a0</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a371ec957a8a58c4696075207887da81b</anchor>
      <arglist>(const typename NearestNeighbors&lt; _T &gt;::DistanceFunction &amp;distFun) override</arglist>
    </member>
    <member kind="function">
      <type>std::size_t</type>
      <name>size</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a233cca10b0d44494fbe16a9b43d5673b</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~NearestNeighborsGNAT</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a3519373ca71dee10e32da797e77c841b</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>NearestNeighborsGNAT&lt; _T &gt;</type>
      <name>GNAT</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a873e9c72b08a1553d26cba3ca7252c81</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isRemoved</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ae30cb5edd1f0c0e794be515e070a8f89</anchor>
      <arglist>(const _T &amp;data) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>nearestKInternal</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ace40d66250926c8a2dac74956f6eaa60</anchor>
      <arglist>(const _T &amp;data, std::size_t k, NearQueue &amp;nbhQueue) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>nearestRInternal</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a7719d9aecdcf4c653a59e80c76b9739b</anchor>
      <arglist>(const _T &amp;data, double radius, NearQueue &amp;nbhQueue) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>postprocessNearest</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a5665dac6822a62f19ce308731cf594af</anchor>
      <arglist>(NearQueue &amp;nbhQueue, std::vector&lt; _T &gt; &amp;nbh) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>degree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a1dbc730116695399d60300769dbcb900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>maxDegree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ae26fb63d0a71ff7748e3c4e659262f84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>maxNumPtsPerLeaf_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a6c5bc9374ac6f10e4a09216bb99bffd5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>minDegree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a5c6663d74b190e4f7f5b78f23fecc886</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>GreedyKCenters&lt; _T &gt;</type>
      <name>pivotSelector_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a9a0dc6e6f52389ccc11e3b0f60d8100f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::size_t</type>
      <name>rebuildSize_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>acefb388a974f4e88fa64cb96bacf6b36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unordered_set&lt; const _T * &gt;</type>
      <name>removed_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a827c83d987eb312a5edcedea6908d50d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::size_t</type>
      <name>removedCacheSize_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a2056de4c145daf56f7b1c1f6c77e304c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::size_t</type>
      <name>size_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>aef23be44621451ce015f19b41ec3bf97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Node *</type>
      <name>tree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a3af599670426d97bceb0c4a6ad39699c</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a1e1b937c81eb1d184ffa588589bcc07f</anchor>
      <arglist>(std::ostream &amp;out, const NearestNeighborsGNAT&lt; _T &gt; &amp;gnat)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>NearestNeighborsGNAT&lt; IKEntry *&gt;</name>
    <filename>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</filename>
    <base>NearestNeighbors&lt; IKEntry * &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a4ebc0f937a1d95cf2ac1701946a3787e</anchor>
      <arglist>(const IKEntry * &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ab8c846f6826240728f8f5331fab12a98</anchor>
      <arglist>(const std::vector&lt; IKEntry * &gt; &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a50d17588bd1b89d96349187df26901db</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>integrityCheck</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a2c754c4e123d721f3e7c3054e4c47060</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>list</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a2532c0ef3ece366f6ec7228b48239004</anchor>
      <arglist>(std::vector&lt; IKEntry * &gt; &amp;data) const override</arglist>
    </member>
    <member kind="function">
      <type>IKEntry *</type>
      <name>nearest</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ae251d568d7203e825bf490f1b4835e3b</anchor>
      <arglist>(const IKEntry * &amp;data) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nearestK</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ad868a902d012049dd98b6a30f558f724</anchor>
      <arglist>(const IKEntry * &amp;data, std::size_t k, std::vector&lt; IKEntry * &gt; &amp;nbh) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>NearestNeighborsGNAT</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>aa6d3ef5c6d07de8a24f1d055c1e40a17</anchor>
      <arglist>(unsigned int degree=8, unsigned int minDegree=4, unsigned int maxDegree=12, unsigned int maxNumPtsPerLeaf=50, unsigned int removedCacheSize=500, bool rebalancing=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>nearestR</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a44882365239a83d1a2264f81cbebf26d</anchor>
      <arglist>(const IKEntry * &amp;data, double radius, std::vector&lt; IKEntry * &gt; &amp;nbh) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rebuildDataStructure</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a40e469f4ed24eef96596e16d62eeda8e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>remove</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a4128551b583de3fdc7948c1e746e09f3</anchor>
      <arglist>(const IKEntry * &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>reportsSortedResults</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ac67eda3f0a15710b5c850ec71df948a0</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDistanceFunction</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a371ec957a8a58c4696075207887da81b</anchor>
      <arglist>(const typename NearestNeighbors&lt; IKEntry * &gt;::DistanceFunction &amp;distFun) override</arglist>
    </member>
    <member kind="function">
      <type>std::size_t</type>
      <name>size</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a233cca10b0d44494fbe16a9b43d5673b</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~NearestNeighborsGNAT</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a3519373ca71dee10e32da797e77c841b</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>NearestNeighborsGNAT&lt; IKEntry * &gt;</type>
      <name>GNAT</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a873e9c72b08a1553d26cba3ca7252c81</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isRemoved</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ae30cb5edd1f0c0e794be515e070a8f89</anchor>
      <arglist>(const IKEntry * &amp;data) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>nearestKInternal</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ace40d66250926c8a2dac74956f6eaa60</anchor>
      <arglist>(const IKEntry * &amp;data, std::size_t k, NearQueue &amp;nbhQueue) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>nearestRInternal</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a7719d9aecdcf4c653a59e80c76b9739b</anchor>
      <arglist>(const IKEntry * &amp;data, double radius, NearQueue &amp;nbhQueue) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>postprocessNearest</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a5665dac6822a62f19ce308731cf594af</anchor>
      <arglist>(NearQueue &amp;nbhQueue, std::vector&lt; IKEntry * &gt; &amp;nbh) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>degree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a1dbc730116695399d60300769dbcb900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>maxDegree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>ae26fb63d0a71ff7748e3c4e659262f84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>maxNumPtsPerLeaf_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a6c5bc9374ac6f10e4a09216bb99bffd5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>minDegree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a5c6663d74b190e4f7f5b78f23fecc886</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>GreedyKCenters&lt; IKEntry * &gt;</type>
      <name>pivotSelector_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a9a0dc6e6f52389ccc11e3b0f60d8100f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::size_t</type>
      <name>rebuildSize_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>acefb388a974f4e88fa64cb96bacf6b36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unordered_set&lt; const IKEntry * *&gt;</type>
      <name>removed_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a827c83d987eb312a5edcedea6908d50d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::size_t</type>
      <name>removedCacheSize_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a2056de4c145daf56f7b1c1f6c77e304c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::size_t</type>
      <name>size_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>aef23be44621451ce015f19b41ec3bf97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Node *</type>
      <name>tree_</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a3af599670426d97bceb0c4a6ad39699c</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT.html</anchorfile>
      <anchor>a1e1b937c81eb1d184ffa588589bcc07f</anchor>
      <arglist>(std::ostream &amp;out, const NearestNeighborsGNAT&lt; IKEntry * &gt; &amp;gnat)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cached_ik_kinematics_plugin::NearestNeighborsGNAT::Node</name>
    <filename>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</filename>
    <member kind="function">
      <type>void</type>
      <name>add</name>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <arglist>(NearQueue &amp;nbh, double r, const _T &amp;data, double dist) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>list</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <arglist>(const GNAT &amp;gnat, std::vector&lt; _T &gt; &amp;data) const</arglist>
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      <type>void</type>
      <name>nearestK</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
      <anchor>af533bae96e4975f56b698039f886c032</anchor>
      <arglist>(const GNAT &amp;gnat, const _T &amp;data, std::size_t k, NearQueue &amp;nbh, NodeQueue &amp;nodeQueue, bool &amp;isPivot) const</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <arglist>(const GNAT &amp;gnat, const _T &amp;data, double r, NearQueue &amp;nbh, NodeQueue &amp;nodeQueue) const</arglist>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <arglist>(const GNAT &amp;gnat) const</arglist>
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      <name>Node</name>
      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <anchorfile>classcached__ik__kinematics__plugin_1_1NearestNeighborsGNAT_1_1Node.html</anchorfile>
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      <arglist>(GNAT &amp;gnat)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(std::ostream &amp;out, const Node &amp;node)</arglist>
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    <member kind="function">
      <type></type>
      <name>Options</name>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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  <compound kind="struct">
    <name>cached_ik_kinematics_plugin::IKCache::Pose</name>
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    <member kind="function">
      <type>double</type>
      <name>distance</name>
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      <arglist>(const Pose &amp;pose) const</arglist>
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    <member kind="function">
      <type></type>
      <name>Pose</name>
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      <anchor>a846c0a801c4c928d9ee9496baae5e40a</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>Pose</name>
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      <anchor>a481c1d3a3e2cc445318ccd48e8a4306d</anchor>
      <arglist>(const geometry_msgs::Pose &amp;pose)</arglist>
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    <member kind="variable">
      <type>tf2::Quaternion</type>
      <name>orientation</name>
      <anchorfile>structcached__ik__kinematics__plugin_1_1IKCache_1_1Pose.html</anchorfile>
      <anchor>abff054ce5e072b0391a682f905eb9b62</anchor>
      <arglist></arglist>
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      <type>tf2::Vector3</type>
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      <anchor>a49fcd0cce72bd44383449c838a55a68b</anchor>
      <arglist></arglist>
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      <arglist>(const std::string &amp;name) const</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <member kind="typedef" protection="private">
      <type>pluginlib::ClassLoader&lt; kinematics::KinematicsBase &gt;</type>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(SharedData const &amp;)=delete</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>std::unique_ptr&lt; KinematicsLoader &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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      <type>const std::vector&lt; std::string &gt; &amp;</type>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
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      <arglist>(const std::vector&lt; std::string &gt; &amp;link_names, const std::vector&lt; double &gt; &amp;joint_angles, std::vector&lt; geometry_msgs::Pose &gt; &amp;poses) const override</arglist>
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    <member kind="function">
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      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a4882ba1c303f5f357cdd019b53b1ecf3</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function">
      <type>const std::vector&lt; std::string &gt; &amp;</type>
      <name>getVariableNames</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchor>ae1c234638f86f1d81fbaa6af876819d6</anchor>
      <arglist>(const moveit::core::RobotModel &amp;robot_model, const std::string &amp;group_name, const std::string &amp;base_name, const std::vector&lt; std::string &gt; &amp;tip_frames, double search_discretization) override</arglist>
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    <member kind="function">
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      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a6d670bd95a57f65ec420a2b2507736a6</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a73f256b965aa0de1526b1b9652a8ac12</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a531a14e4641ee69135467257dbc1713b</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a30f4adf08e3f91e06ad56e782caa84b1</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SrvKinematicsPlugin</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>aeb271da291885e7524b603f0f1b754c0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a496f16ad2f57e155fe709f7b89f4c161</anchor>
      <arglist>(const geometry_msgs::Pose &amp;ik_pose, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const std::vector&lt; double &gt; &amp;consistency_limits, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>searchPositionIK</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>ac11b8323b2acfcb6c61e749a7ab0817e</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Pose &gt; &amp;ik_poses, const std::vector&lt; double &gt; &amp;ik_seed_state, double timeout, const std::vector&lt; double &gt; &amp;consistency_limits, std::vector&lt; double &gt; &amp;solution, const IKCallbackFn &amp;solution_callback, moveit_msgs::MoveItErrorCodes &amp;error_code, const kinematics::KinematicsQueryOptions &amp;options=kinematics::KinematicsQueryOptions()) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setRedundantJoints</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a0f5975dd61627b721e098b6f04e41fd5</anchor>
      <arglist>(const std::vector&lt; unsigned int &gt; &amp;redundant_joint_indices) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>int</type>
      <name>getJointIndex</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a512723b1cb1924d9751dcf039a39471d</anchor>
      <arglist>(const std::string &amp;name) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>isRedundantJoint</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a03162f2fed4984d4942faca5c5d2c08e</anchor>
      <arglist>(unsigned int index) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>timedOut</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a5a7e106cfade8cbf21edbad618025ec0</anchor>
      <arglist>(const ros::WallTime &amp;start_time, double duration) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>active_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>abfd5f7fd32858b18fe795385c1123bd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>dimension_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a083c8bdff4f2684bbf7d7afb0cf4b650</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>moveit_msgs::KinematicSolverInfo</type>
      <name>ik_group_info_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a2d653ca99d0f3874a1b6b90d80931260</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; ros::ServiceClient &gt;</type>
      <name>ik_service_client_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>ad37cc48894a977e46dd1e2d7e48732aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const robot_model::JointModelGroup *</type>
      <name>joint_model_group_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a207efc25c47b063c8a44e427953cbf4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>num_possible_redundant_joints_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>ab4004cf158c02042e9dd1ba6e46e5ed8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robot_state::RobotStatePtr</type>
      <name>robot_state_</name>
      <anchorfile>classsrv__kinematics__plugin_1_1SrvKinematicsPlugin.html</anchorfile>
      <anchor>a9c3442ef40b0f6a4b2d68d0cbc07b78c</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="namespace">
    <name>_NAMESPACE_</name>
    <filename>namespace__NAMESPACE__.html</filename>
    <class kind="class">_NAMESPACE_::IKFastKinematicsPlugin</class>
    <class kind="struct">_NAMESPACE_::LimitObeyingSol</class>
    <member kind="enumeration">
      <type></type>
      <name>IkParameterizationType</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
      <anchor>ab51a2cbae1a12e01695b45e037af71cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_None</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
      <anchor>ab51a2cbae1a12e01695b45e037af71cca78e3c9023bab5d6d7d10757ad917ca32</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Transform6D</name>
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      <anchor>ab51a2cbae1a12e01695b45e037af71cca5c5eecd5bc5619d8a41255aa89d9d559</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Rotation3D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Translation3D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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    <member kind="enumvalue">
      <name>IKP_Direction3D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Ray4D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Lookat3D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationDirection5D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <name>IKP_TranslationXY2D</name>
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      <name>IKP_TranslationXYOrientation3D</name>
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      <arglist></arglist>
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      <name>IKP_TranslationLocalGlobal6D</name>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngle4D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngle4D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngle4D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationXAxisAngleZNorm4D</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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    <member kind="enumvalue">
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_NumberOfParameterizations</name>
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    <member kind="enumvalue">
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      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <name>IKP_Transform6DVelocity</name>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Rotation3DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
      <anchor>ab51a2cbae1a12e01695b45e037af71cca18701273ccdea38836abec3dc73405cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_Translation3DVelocity</name>
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      <anchor>ab51a2cbae1a12e01695b45e037af71cca81d72a874f1b759775bd332abc53f75e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Direction3DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
      <anchor>ab51a2cbae1a12e01695b45e037af71cca2e8d298929678baeac495cc6ba76c93e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Ray4DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_Lookat3DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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      <name>IKP_TranslationDirection5DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationXY2DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationXYOrientation3DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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      <name>IKP_TranslationLocalGlobal6DVelocity</name>
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      <arglist></arglist>
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    <member kind="enumvalue">
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      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngle4DVelocity</name>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngle4DVelocity</name>
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      <arglist></arglist>
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    <member kind="enumvalue">
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationYAxisAngleXNorm4DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_TranslationZAxisAngleYNorm4DVelocity</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>IKP_UniqueIdMask</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
      <anchor>ab51a2cbae1a12e01695b45e037af71cca5861804222e3551c93b140604ed8fc6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>IKP_CustomDataBit</name>
      <anchorfile>namespace__NAMESPACE__.html</anchorfile>
      <anchor>ab51a2cbae1a12e01695b45e037af71cca05c32ae25d21528eca85c49d6572215e</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="namespace">
    <name>cached_ik_kinematics_plugin</name>
    <filename>namespacecached__ik__kinematics__plugin.html</filename>
    <class kind="class">cached_ik_kinematics_plugin::CachedIKKinematicsPlugin</class>
    <class kind="class">cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin</class>
    <class kind="class">cached_ik_kinematics_plugin::GreedyKCenters</class>
    <class kind="struct">cached_ik_kinematics_plugin::hasRobotDescAPI</class>
    <class kind="struct">cached_ik_kinematics_plugin::hasRobotDescAPI&lt; KinematicsPlugin, decltype(std::declval&lt; KinematicsPlugin &amp; &gt;().KinematicsPlugin::initialize(std::string(), std::string(), std::string(), std::vector&lt; std::string &gt;(), 0.0))&gt;</class>
    <class kind="struct">cached_ik_kinematics_plugin::hasRobotModelAPI</class>
    <class kind="struct">cached_ik_kinematics_plugin::hasRobotModelAPI&lt; KinematicsPlugin, decltype(std::declval&lt; KinematicsPlugin &amp; &gt;().initialize(std::declval&lt; const moveit::core::RobotModel &amp; &gt;(), std::string(), std::string(), std::vector&lt; std::string &gt;(), 0.0))&gt;</class>
    <class kind="class">cached_ik_kinematics_plugin::IKCache</class>
    <class kind="class">cached_ik_kinematics_plugin::IKCacheMap</class>
    <class kind="class">cached_ik_kinematics_plugin::NearestNeighbors</class>
    <class kind="class">cached_ik_kinematics_plugin::NearestNeighborsGNAT</class>
  </compound>
  <compound kind="namespace">
    <name>create_ikfast_moveit_plugin</name>
    <filename>namespacecreate__ikfast__moveit__plugin.html</filename>
    <class kind="class">create_ikfast_moveit_plugin::InvalidROSPkgException</class>
    <member kind="function">
      <type>def</type>
      <name>copy_file</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>adec89093bfb6aac2e9ee710153282ae0</anchor>
      <arglist>(src_path, dest_path, description, replacements=None)</arglist>
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    <member kind="function">
      <type>def</type>
      <name>create_ikfast_package</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>ad837454aa1f373df65933493bdbbc597</anchor>
      <arglist>(args)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>create_parser</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>a925df6a43bd05eb3b879f712c3cdabac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>find_template_dir</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>a0c179dde2f35aa481651f5ae95b64e16</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>def</type>
      <name>get_pkg_dir</name>
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      <anchor>a6f42847298847daca777c765b3bf7ff4</anchor>
      <arglist>(pkg_name)</arglist>
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    <member kind="function">
      <type>def</type>
      <name>main</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>ad819134a697fd1d68bf196710ebe5649</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>def</type>
      <name>populate_optional</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>a9975a9fd743a13b851f472d87903fa29</anchor>
      <arglist>(args)</arglist>
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    <member kind="function">
      <type>def</type>
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      <arglist>(args)</arglist>
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    <member kind="function">
      <type>def</type>
      <name>update_deps</name>
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      <anchor>a7ecfe523c4c716be5edcce39e79af57f</anchor>
      <arglist>(reqd_deps, req_type, e_parent)</arglist>
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    <member kind="function">
      <type>def</type>
      <name>update_ikfast_package</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
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      <arglist>(args)</arglist>
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    <member kind="function">
      <type>def</type>
      <name>update_moveit_package</name>
      <anchorfile>namespacecreate__ikfast__moveit__plugin.html</anchorfile>
      <anchor>ac286c72e81acfce7b64afea9d6ee7228</anchor>
      <arglist>(args)</arglist>
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    <member kind="function">
      <type>def</type>
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