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      <anchorfile>classdynamixel_1_1GripperDynamixel.html</anchorfile>
      <anchor>a9fae045b9119cdffdb4b6c2f4e7555c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DynamixelWorkbench *</type>
      <name>dynamixel_workbench_</name>
      <anchorfile>classdynamixel_1_1GripperDynamixel.html</anchorfile>
      <anchor>af48da6d67bd44a4314592e82231748e8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>custom_trajectory::Heart</name>
    <filename>classcustom__trajectory_1_1Heart.html</filename>
    <base>robotis_manipulator::CustomTaskTrajectory</base>
    <member kind="function">
      <type>TaskWaypoint</type>
      <name>drawHeart</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>accd89f86381db0e9e942d8cd1c0060c0</anchor>
      <arglist>(double tick)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual TaskWaypoint</type>
      <name>getTaskWaypoint</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a13b1345a4eb3331d35c880f41c6b330a</anchor>
      <arglist>(double tick)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Heart</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>ac80c2fe2a2ef67e3ac57727ff29bbeb1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initHeart</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a76ffd530b83f642c13044be183fcc19f</anchor>
      <arglist>(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a7220e47f7f4bdbf63d857f7522ccf90b</anchor>
      <arglist>(double move_time, TaskWaypoint start, const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a659da39c4c6248c332b229d031ccd0bc</anchor>
      <arglist>(const void *arg)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Heart</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>acd296cf660c52aee637afc89cae614f1</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>VectorXd</type>
      <name>coefficient_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a991f56c6bd25cff9a85cf8812c15012f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TaskWaypoint</type>
      <name>goal_pose_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a5137ad024f48026f236ab20274c0fafb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>robotis_manipulator::MinimumJerk</type>
      <name>path_generator_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a5c0ce825586bdbf3775d2cef8d3a9f44</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>radius_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a7b084ccf6e37e18a166ff2cffccc1ddb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>revolution_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>aba9a59992d9946df73b330e33ba15b04</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>start_angular_position_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
      <anchor>a2d1c5bf824dec6fc08c24a7b4200ad2a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TaskWaypoint</type>
      <name>start_pose_</name>
      <anchorfile>classcustom__trajectory_1_1Heart.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
    <name>dynamixel::Joint</name>
    <filename>structdynamixel_1_1Joint.html</filename>
    <member kind="variable">
      <type>std::vector&lt; uint8_t &gt;</type>
      <name>id</name>
      <anchorfile>structdynamixel_1_1Joint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>uint8_t</type>
      <name>num</name>
      <anchorfile>structdynamixel_1_1Joint.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>dynamixel::JointDynamixel</name>
    <filename>classdynamixel_1_1JointDynamixel.html</filename>
    <base>robotis_manipulator::JointActuator</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>disable</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a3bb23f61f11e6499dc8d11042a185b28</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>enable</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a85831242592f5a1e190f429e15b36ccc</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; uint8_t &gt;</type>
      <name>getId</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>aedafc3777f3726e7d62284211816ebc3</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>init</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a29f8e92285cca2256a54d9b2304f8ab0</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, const void *arg)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a835b66f866255a1a9e2ff525d98b28b3</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, STRING dxl_device_name, STRING dxl_baud_rate)</arglist>
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    <member kind="function">
      <type></type>
      <name>JointDynamixel</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>std::vector&lt; robotis_manipulator::ActuatorValue &gt;</type>
      <name>receiveAllDynamixelValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a1b9c533a380c6366c7dfbf5755280bba</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; robotis_manipulator::ActuatorValue &gt;</type>
      <name>receiveJointActuatorValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a5f6e210be04801f92bffb691592eae46</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>sendJointActuatorValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>acacdc9c1a4ef7f9b6334098c07b17591</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, std::vector&lt; robotis_manipulator::ActuatorValue &gt; value_vector)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMode</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a5e604030bc9ce58f3d07e5a487f15360</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, const void *arg)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>setOperatingMode</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>af61c4cde3c80744fc28cc2151bacf4e8</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, STRING dynamixel_mode=&quot;position_mode&quot;)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>setSDKHandler</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a1d6264a355913b3294458380b91eb54b</anchor>
      <arglist>(uint8_t actuator_id)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>writeGoalPosition</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a759e90517edce4d6cc3fbd59089ecb0c</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, std::vector&lt; double &gt; radian_vector)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>writeProfileValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a14e4acd9a04c8fe33c571d9fd32dfb7e</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, STRING profile_mode, uint32_t value)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~JointDynamixel</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a61bbdcb4fcce6653e5cdbb96dd2bf33f</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Joint</type>
      <name>dynamixel_</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a7fdf8fa43c1712d1a0cd827d7baadf62</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>DynamixelWorkbench *</type>
      <name>dynamixel_workbench_</name>
      <anchorfile>classdynamixel_1_1JointDynamixel.html</anchorfile>
      <anchor>a1b9caca4a48d69d178e22e622c41aca5</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>dynamixel::JointDynamixelProfileControl</name>
    <filename>classdynamixel_1_1JointDynamixelProfileControl.html</filename>
    <base>robotis_manipulator::JointActuator</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>disable</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>ac24a94aa05706cd41e8d44b66697538b</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>enable</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>ab1f89973bf49bd93134eb716ae20cd15</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; uint8_t &gt;</type>
      <name>getId</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a92559c44dd690d68664f9456118e5b4a</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a8f308e4d24a684d512491ffd896a5543</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, const void *arg)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a70098f0b17e35ef3376d7b3f64fa5e61</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, STRING dxl_device_name, STRING dxl_baud_rate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JointDynamixelProfileControl</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>abd8384706284e60befccd1df1f58f431</anchor>
      <arglist>(float control_loop_time=0.010)</arglist>
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    <member kind="function">
      <type>std::vector&lt; robotis_manipulator::ActuatorValue &gt;</type>
      <name>receiveAllDynamixelValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>ae094afe0ab114dcff5a64bfdd3723e34</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; robotis_manipulator::ActuatorValue &gt;</type>
      <name>receiveJointActuatorValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a2bf5fac98747d7f663a2c4e40f120d1f</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>sendJointActuatorValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a8d37cda73740162f53059c309fafd93d</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, std::vector&lt; robotis_manipulator::ActuatorValue &gt; value_vector)</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a9c7888b237979e5188d56d0279f0352a</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, const void *arg)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>setOperatingMode</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a445026dbb3d41e7b737285fec785fc30</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, STRING dynamixel_mode=&quot;position_mode&quot;)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>setSDKHandler</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a2348382667c1735f7bb197d9868e5735</anchor>
      <arglist>(uint8_t actuator_id)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>writeGoalProfilingControlValue</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a4807de6359a1c54b8f718147223b6cc8</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, std::vector&lt; robotis_manipulator::ActuatorValue &gt; value_vector)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a932d93049d0549266d4f69eb4c9dd3f5</anchor>
      <arglist>(std::vector&lt; uint8_t &gt; actuator_id, STRING profile_mode, uint32_t value)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>~JointDynamixelProfileControl</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>aa23dccdcd28ab4d40998b17660e4fe8a</anchor>
      <arglist>()</arglist>
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      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a626a103d519e85e417a4199c6f2ff7d4</anchor>
      <arglist></arglist>
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      <type>Joint</type>
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      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a1af5115786e3fb0ac45e36f7e248bdbd</anchor>
      <arglist></arglist>
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      <anchor>a0820b68b702f32a4e410cceea71d3ab2</anchor>
      <arglist></arglist>
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      <type>std::map&lt; uint8_t, robotis_manipulator::ActuatorValue &gt;</type>
      <name>previous_goal_value_</name>
      <anchorfile>classdynamixel_1_1JointDynamixelProfileControl.html</anchorfile>
      <anchor>a0804b4046ad0a5ab2699a0134dadb83d</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
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      <arglist>(double time_var)</arglist>
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      <arglist>(double tick)</arglist>
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      <arglist>(double move_time, TaskWaypoint start, TaskWaypoint delta)</arglist>
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      <arglist>()</arglist>
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      <arglist>(double move_time, TaskWaypoint start, const void *arg)</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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    <name>OpenManipulator</name>
    <filename>classOpenManipulator.html</filename>
    <base>robotis_manipulator::RobotisManipulator</base>
    <member kind="function">
      <type>JointWaypoint</type>
      <name>angleToDistance</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>af3fc44a119f834f24b7f5e8d32885749</anchor>
      <arglist>(JointWaypoint angle)</arglist>
    </member>
    <member kind="function">
      <type>JointWaypoint</type>
      <name>distanceToAngle</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>acfb2cecb1b1a54d7d252e8f1689c4888</anchor>
      <arglist>(JointWaypoint distance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initOpenManipulator</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>ad3ff24c73361f6bbfd068de7c990e81c</anchor>
      <arglist>(bool using_actual_robot_state, STRING usb_port=&quot;/dev/ttyUSB0&quot;, STRING baud_rate=&quot;1000000&quot;, float control_loop_time=0.010, bool with_gripper=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OpenManipulator</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>ad63ed4cc0658e33c20a54d4831577337</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>processOpenManipulator</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>aeb908402384520a201e53a098ae7101a</anchor>
      <arglist>(double present_time, bool using_actual_robot_state, bool with_gripper=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OpenManipulator</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>aee80a12eafcc935b2bb1c45ff2adc7c7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robotis_manipulator::JointActuator *</type>
      <name>actuator_</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>a08110a17bbbd893d6d20e468103d2cf1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robotis_manipulator::CustomTaskTrajectory *</type>
      <name>custom_trajectory_</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>a9422c24cc5432652b5450c4511f3d4a1</anchor>
      <arglist>[CUSTOM_TRAJECTORY_SIZE]</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robotis_manipulator::Kinematics *</type>
      <name>kinematics_</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>a53b2e88ad4cb227f5b6cb8d93fb575d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robotis_manipulator::ToolActuator *</type>
      <name>tool_</name>
      <anchorfile>classOpenManipulator.html</anchorfile>
      <anchor>a1c10feb65a26454fbdb7caf97138d855</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>custom_trajectory::Rhombus</name>
    <filename>classcustom__trajectory_1_1Rhombus.html</filename>
    <base>robotis_manipulator::CustomTaskTrajectory</base>
    <member kind="function">
      <type>TaskWaypoint</type>
      <name>drawRhombus</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a783f44a74bfa45cc3f8563164c5fb243</anchor>
      <arglist>(double time_var)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual TaskWaypoint</type>
      <name>getTaskWaypoint</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a347b316bd07faf892f72658ac34c05ca</anchor>
      <arglist>(double tick)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initRhombus</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>abf00c9737a968bbbb7ccb74b73a305ca</anchor>
      <arglist>(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>makeTaskTrajectory</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a8c16dc7e4ef2e45dc712b8d282b90983</anchor>
      <arglist>(double move_time, TaskWaypoint start, const void *arg)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Rhombus</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a72c2ae36c014e118c2784593498c8046</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>ade80f41253757b0b98aab285781d1053</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Rhombus</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a90c671232df608dc3f80da956bdbc06e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>VectorXd</type>
      <name>coefficient_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a64eb37a0564964ca2579c1014d0b0992</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TaskWaypoint</type>
      <name>goal_pose_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a1d698f6dd4db0ae193f1817bb70b7f18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>robotis_manipulator::MinimumJerk</type>
      <name>path_generator_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>ae9a003f52ee140da1b6199d8fbc68eb5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>radius_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>af5e35230e2d6a83457c5b04ac453eeaa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>revolution_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a1c45ef3d1f0cc0423e16d5da7a3f2f54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>start_angular_position_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a44ba1a2ac08b5cce6e75422dd5558562</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TaskWaypoint</type>
      <name>start_pose_</name>
      <anchorfile>classcustom__trajectory_1_1Rhombus.html</anchorfile>
      <anchor>a6efb08987f3b9eb1b2bfdc557cca4d96</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>kinematics::SolverCustomizedforOMChain</name>
    <filename>classkinematics_1_1SolverCustomizedforOMChain.html</filename>
    <base>robotis_manipulator::Kinematics</base>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>a2b623c005462323c2c6e6f759b60d285</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>a243df96cb6c9002f07e6565995c4daad</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>a975e80e0f8e1f1a84b143b958acb9ace</anchor>
      <arglist>(Manipulator *manipulator)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>a6470870b9bc703f1fb382bcc3cd9dde5</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverCustomizedforOMChain</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>acc0651f1acc27de9987f81bce333ada1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SolverCustomizedforOMChain</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>ad49796edc10dccce2e568f2034e76fd5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>chainCustomInverseKinematics</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>ac27e2df11c964caac75ffb2ae09b733a</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>forwardSolverUsingChainRule</name>
      <anchorfile>classkinematics_1_1SolverCustomizedforOMChain.html</anchorfile>
      <anchor>a3c34c6ec73b8b8a9fc0ea015453b060e</anchor>
      <arglist>(Manipulator *manipulator, Name component_name)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>kinematics::SolverUsingCRAndGeometry</name>
    <filename>classkinematics_1_1SolverUsingCRAndGeometry.html</filename>
    <base>robotis_manipulator::Kinematics</base>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>a01c2accc033d828341200ef1ef785c16</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>a15335b60c4e27761502542b2ed695f42</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>a2e0a06107fd385d1825ec341f5ea0dfb</anchor>
      <arglist>(Manipulator *manipulator)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>ac64ded545ea7924329f25d44210d977c</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverUsingCRAndGeometry</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>a443bc81409b85c5964c050d132d4fc21</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SolverUsingCRAndGeometry</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>a8f38b877dc47c6f1353fb68d4aa5e578</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>forwardSolverUsingChainRule</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>ac7ac422f4e438fbdd46d187481c479a2</anchor>
      <arglist>(Manipulator *manipulator, Name component_name)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>inverseSolverUsingGeometry</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>ab9be35054ae10e732187d8c4c83d1e0f</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>with_gripper_</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndGeometry.html</anchorfile>
      <anchor>ad75b942d63b663c488ef42dcb2c391fe</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>kinematics::SolverUsingCRAndJacobian</name>
    <filename>classkinematics_1_1SolverUsingCRAndJacobian.html</filename>
    <base>robotis_manipulator::Kinematics</base>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>a9d747b5e49620ab7bda7534abec183eb</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>adab0e2ca519a1b4949b8cc82e6efc9fa</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>a41a80c6dfbe8f6e1649c3345762df3fc</anchor>
      <arglist>(Manipulator *manipulator)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>accb8d8e603a4074f1ee7aed4b1fa0cea</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverUsingCRAndJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>ada333b21723de78752b4fc94191f9afd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SolverUsingCRAndJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>a1ed1c9a3ba26c8b2db219a4cfbb3a325</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>forwardSolverUsingChainRule</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>a5a8e65e2bed6e039398f2fa184525a01</anchor>
      <arglist>(Manipulator *manipulator, Name component_name)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>inverseSolverUsingJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndJacobian.html</anchorfile>
      <anchor>a336d40b3e7285d3803d1c5d8aa184ce9</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>kinematics::SolverUsingCRAndSRJacobian</name>
    <filename>classkinematics_1_1SolverUsingCRAndSRJacobian.html</filename>
    <base>robotis_manipulator::Kinematics</base>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>a96e48452740773bcd8490b04ba1f0a74</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>aac960065004c5f3ea50ac053c109cacf</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>a18987e3658a688af36ababdb2cb16ff5</anchor>
      <arglist>(Manipulator *manipulator)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>af948d905230ec3a338e05d83419c5419</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverUsingCRAndSRJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>adb5d699f98c3ee6cebb7a96eee93fdee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SolverUsingCRAndSRJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>a00727dd2331c3fc7126e9bd8bbc44405</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>forwardSolverUsingChainRule</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>a3d6d7bfbe640539edfcd53b9e99cd775</anchor>
      <arglist>(Manipulator *manipulator, Name component_name)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>inverseSolverUsingSRJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRJacobian.html</anchorfile>
      <anchor>a33ab32cc592c2d876c5484fc2155b886</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>kinematics::SolverUsingCRAndSRPositionOnlyJacobian</name>
    <filename>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</filename>
    <base>robotis_manipulator::Kinematics</base>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixXd</type>
      <name>jacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</anchorfile>
      <anchor>a20956f27e9f1854021e4c0a91deec562</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setOption</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</anchorfile>
      <anchor>a7da79aa3c49a82b1c2660a07102e0290</anchor>
      <arglist>(const void *arg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>solveForwardKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</anchorfile>
      <anchor>ab54743568451897631e180c8ef3f6c86</anchor>
      <arglist>(Manipulator *manipulator)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>solveInverseKinematics</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</anchorfile>
      <anchor>a7406116122ad836a2dfb2cced0d462ab</anchor>
      <arglist>(Manipulator *manipulator, Name tool_name, Pose target_pose, std::vector&lt; JointValue &gt; *goal_joint_value)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SolverUsingCRAndSRPositionOnlyJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</anchorfile>
      <anchor>a58ff24a155e06d9dd862963a39816cd9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~SolverUsingCRAndSRPositionOnlyJacobian</name>
      <anchorfile>classkinematics_1_1SolverUsingCRAndSRPositionOnlyJacobian.html</anchorfile>
      <anchor>a338b7f097386a6ae1a9af77863b90d48</anchor>
      <arglist>()</arglist>
    </member>
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