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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x, double eps=epsilon)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>INLINE bool</type>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x, double eps=epsilon)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
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      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
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      <arglist>(const ArticulatedBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
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    <member kind="friend">
      <type>friend ArticulatedBodyInertia</type>
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      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
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  <compound kind="class">
    <name>KDL::Chain</name>
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    <member kind="function">
      <type>void</type>
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      <arglist>(const Chain &amp;chain)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classKDL_1_1Chain.html</anchorfile>
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      <arglist>(const Segment &amp;segment)</arglist>
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    <member kind="function">
      <type></type>
      <name>Chain</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>Chain</name>
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      <arglist>(const Chain &amp;in)</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>getNrOfJoints</name>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>unsigned int</type>
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      <arglist>() const</arglist>
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      <arglist>(unsigned int nr) const</arglist>
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    <member kind="function">
      <type>Segment &amp;</type>
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      <arglist>(unsigned int nr)</arglist>
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    <member kind="function">
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      <arglist>(const Chain &amp;arg)</arglist>
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      <anchorfile>classKDL_1_1Chain.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>KDL::SolverI</base>
    <member kind="function">
      <type></type>
      <name>ChainDynParam</name>
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      <arglist>(const Chain &amp;chain, Vector _grav)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
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      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, JntArray &amp;coriolis)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
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      <arglist>(const JntArray &amp;q, JntArray &amp;gravity)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>JntToMass</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist>(const JntArray &amp;q, JntSpaceInertiaMatrix &amp;H)</arglist>
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      <type>virtual void</type>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ChainDynParam</name>
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      <arglist>()</arglist>
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      <type>Twist</type>
      <name>ag</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>a248a0c0794a78da468fc7275b67c9a77</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainIdSolver_RNE</type>
      <name>chainidsolver_coriolis</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>a0bb02d30307640b2a7e5b7515a98a5a0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainIdSolver_RNE</type>
      <name>chainidsolver_gravity</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>aab4dbc3ab38d82fa232c40caf5d45fc5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Wrench</type>
      <name>F</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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      <type>Vector</type>
      <name>grav</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>a34fd7c51a483b909b23a52a842fd49db</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; ArticulatedBodyInertia, Eigen::aligned_allocator&lt; ArticulatedBodyInertia &gt; &gt;</type>
      <name>Ic</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>jntarraynull</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>nr</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>a9d43932d12cd114afa0a4c02d1a376f5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>ns</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>a6f41b9e2f33019e9b862f3ffdabdb9f8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; Twist &gt;</type>
      <name>S</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Vector</type>
      <name>vectornull</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
      <anchor>aa647c8dd1c229079dba4254a0d8be0a4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; Wrench &gt;</type>
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      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; Frame &gt;</type>
      <name>X</name>
      <anchorfile>classKDL_1_1ChainDynParam.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::ChainExternalWrenchEstimator</name>
    <filename>classKDL_1_1ChainExternalWrenchEstimator.html</filename>
    <base>KDL::SolverI</base>
    <member kind="function">
      <type></type>
      <name>ChainExternalWrenchEstimator</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
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      <arglist>(const Chain &amp;chain, const Vector &amp;gravity, const double sample_frequency, const double estimation_gain, const double filter_constant, const double eps=0.00001, const int maxiter=150)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>getEstimatedJntTorque</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a81d9082e02bc18738527c1872c8c24d4</anchor>
      <arglist>(JntArray &amp;external_joint_torque)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>JntToExtWrench</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>ab8782e7fbd2048a7134b0540868b68ca</anchor>
      <arglist>(const JntArray &amp;joint_position, const JntArray &amp;joint_velocity, const JntArray &amp;joint_torque, Wrench &amp;external_wrench)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>setInitialMomentum</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>adcc483423c33efbebe4d601b0dca4eed</anchor>
      <arglist>(const JntArray &amp;joint_position, const JntArray &amp;joint_velocity)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setSVDEps</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>abee638981006ed8079e145e8ef127d30</anchor>
      <arglist>(const double eps_in)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setSVDMaxIter</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a3ffc884771a70d059141e9840de3273f</anchor>
      <arglist>(const int maxiter_in)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const char *</type>
      <name>strError</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a60c82e0c710b76a6ecbffc8707c8415a</anchor>
      <arglist>(const int error) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a8926e0a2ce6d5d595aa9cdc5b7160f83</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>~ChainExternalWrenchEstimator</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>adf126f01f05572222149bace93515de6</anchor>
      <arglist>()</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_DYNPARAMSOLVERCORIOLIS_FAILED</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a34644f7b46160ec2c54666068117dcbe</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_DYNPARAMSOLVERGRAVITY_FAILED</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_DYNPARAMSOLVERMASS_FAILED</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_FKSOLVERPOS_FAILED</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>abc739338601c8feaaf577a21b50e7899</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_JACSOLVER_FAILED</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>ad8efde84f75e7324150844c0489cd732</anchor>
      <arglist></arglist>
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    <member kind="typedef" protection="private">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Vector6d</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aca1bd528b331f71bc4b585f019b27e76</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>CHAIN</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>coriolis_torque</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aa3fb1bc0e25cc7d85fd3473bd9c83093</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>DT_SEC</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a41bae6e1124ed944ba183eb6263ec958</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainDynParam</type>
      <name>dynparam_solver</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a8787dbc2c07fb6a8ff2daa1604f718a3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>estimated_ext_torque</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a0526948a434ab0fb25f3761de12457bf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>estimated_momentum_integral</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>acba16831dd4c06b780ac0eed9ed51cf4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>ESTIMATION_GAIN</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>adc2503dd1574933d9422ff5a7a7b5e01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>FILTER_CONST</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a3bf27f2523b03f8ba4759e4dd16bc073</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>filtered_estimated_ext_torque</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a8510aa48501f558f359764ecb86f9559</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainFkSolverPos_recursive</type>
      <name>fk_pos_solver</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aecf9abae2a542cbece9175a2d658aeb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>gravity_torque</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aa1e82bf0eb3b31b32c488dccabe24312</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>initial_jnt_momentum</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a3ec336741b3f4052eda11f45ff93c997</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jacobian_end_eff</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a55534dcba728e399d87811daa52f6ca9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>jacobian_end_eff_transpose</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>af96b6823e09718e500cdf386b7b02e13</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>jacobian_end_eff_transpose_inv</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a250d05810743dafbe0af9d8efd191d81</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ChainJntToJacSolver</type>
      <name>jacobian_solver</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aef3346017ed172ba257307f093d06ed8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntSpaceInertiaMatrix</type>
      <name>jnt_mass_matrix</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a0b1888d879070f9da8d7168c228863bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntSpaceInertiaMatrix</type>
      <name>jnt_mass_matrix_dot</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aa72c0bab87e54f01f740bc6a337a3c1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>ac4269d0d5efa2a0d9e788125a1985fe0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>ns</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>ace987545f465d25b211830976a363eca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntSpaceInertiaMatrix</type>
      <name>previous_jnt_mass_matrix</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>ad13aebd22f8a0b871a68325f1ade67cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>S</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a5761abf00d40f22c76c3f43da95a27bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>S_inv</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aa585f0ac08fe5ec8f75d4834683b41d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>svd_eps</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a794a92822f513eb0c4e46cef89a6b28f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>svd_maxiter</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a6e2b192a202279d766a8d946da981f41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>tmp</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aff51062ec15178705154d97358348f4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>total_torque</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>ae49511d2ac55923d2c0b95141c1666fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>U</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>a4fcce43f5979d0595098db73094e81d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>V</name>
      <anchorfile>classKDL_1_1ChainExternalWrenchEstimator.html</anchorfile>
      <anchor>aa96820faac4667af4ee6809bf25ae9da</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFdSolver</name>
    <filename>classKDL_1_1ChainFdSolver.html</filename>
    <base>KDL::SolverI</base>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainFdSolver.html</anchorfile>
      <anchor>a1b7e13d5976c271c6765eb4cc0b3794d</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;torques, const Wrenches &amp;f_ext, JntArray &amp;q_dotdot)=0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFdSolver_RNE</name>
    <filename>classKDL_1_1ChainFdSolver__RNE.html</filename>
    <base>KDL::ChainFdSolver</base>
    <member kind="function">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a19016902a70478a43a5e9baf3fbdfc98</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;torques, const Wrenches &amp;f_ext, JntArray &amp;q_dotdot)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChainFdSolver_RNE</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a372b45c7456f474deb1c711973b87713</anchor>
      <arglist>(const Chain &amp;chain, Vector grav)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>RK4Integrator</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a91da53454dce97e2b9ed4fee6426eac0</anchor>
      <arglist>(unsigned int &amp;nj, const double &amp;t, double &amp;dt, KDL::JntArray &amp;q, KDL::JntArray &amp;q_dot, KDL::JntArray &amp;torques, KDL::Wrenches &amp;f_ext, KDL::ChainFdSolver_RNE &amp;fdsolver, KDL::JntArray &amp;q_dotdot, KDL::JntArray &amp;dq, KDL::JntArray &amp;dq_dot, KDL::JntArray &amp;q_temp, KDL::JntArray &amp;q_dot_temp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a24f475bd6ff51cccb07f78452f8a40ab</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainFdSolver_RNE</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>ae5c2b7ad84422fd4bfe5d4d323826064</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>acc_eig</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>acdeae7414ef75b3c3cb7531ebf193c9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a3cf8d8345cd3870142646d127ab13a5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>D_eig</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a8290c15051e5480f944522410331b92b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ChainDynParam</type>
      <name>DynSolver</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a6baa40d3a37c6d72a06243066577b869</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntSpaceInertiaMatrix</type>
      <name>H</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a31b2173b3698b06eb30e846e583696c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>H_eig</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>aeba1201e6e48ac7d1719c9800ba35e3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ChainIdSolver_RNE</type>
      <name>IdSolver</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>ad5186bb11d180b4dbf381f0c788ea8cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>L_eig</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>ad60b86ab846cd0bf326c2ce023365d7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a6929f30dd5d7cbce5b18f97fc7f0d3a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>ns</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a9b6f38818d617113bb0f5b198349722f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>r_eig</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>ae74691a8c44815fc64328ddd57b27d53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>Tzeroacc</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a22a9c899d7b5adf8b1fd2b02be1f2cc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>Tzeroacc_eig</name>
      <anchorfile>classKDL_1_1ChainFdSolver__RNE.html</anchorfile>
      <anchor>a3e03535743050684860a83b77affd4d0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFkSolverAcc</name>
    <filename>classKDL_1_1ChainFkSolverAcc.html</filename>
    <base>KDL::SolverI</base>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverAcc.html</anchorfile>
      <anchor>a81d7e2d955d6a63e44dfa201a68e782c</anchor>
      <arglist>(const JntArrayAcc &amp;q_in, FrameAcc &amp;out, int segmentNr=-1)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverAcc.html</anchorfile>
      <anchor>a79c6939188593b1ed61f0a43dab49c4c</anchor>
      <arglist>(const JntArrayAcc &amp;q_in, std::vector&lt; FrameAcc &gt; &amp;out, int segmentNr=-1)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainFkSolverAcc.html</anchorfile>
      <anchor>aa6d4d5fd0bffcd34e01ec9329e810eb8</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual</type>
      <name>~ChainFkSolverAcc</name>
      <anchorfile>classKDL_1_1ChainFkSolverAcc.html</anchorfile>
      <anchor>a15b4753c34d2c53cfc45583befd24c26</anchor>
      <arglist>()=0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFkSolverPos</name>
    <filename>classKDL_1_1ChainFkSolverPos.html</filename>
    <base>KDL::SolverI</base>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos.html</anchorfile>
      <anchor>aee36d4b6ef10c9776e6cd0c2a105606e</anchor>
      <arglist>(const JntArray &amp;q_in, Frame &amp;p_out, int segmentNr=-1)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos.html</anchorfile>
      <anchor>a3bf2d933b1d7c7b011e84e2c6bd1caea</anchor>
      <arglist>(const JntArray &amp;q_in, std::vector&lt; KDL::Frame &gt; &amp;p_out, int segmentNr=-1)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos.html</anchorfile>
      <anchor>ab45b6f23b4f05e402000af66c7c3d25a</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ChainFkSolverPos</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos.html</anchorfile>
      <anchor>a68dcdf4c69a6dd3dc9b04f4dfe43bd6a</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFkSolverPos_recursive</name>
    <filename>classKDL_1_1ChainFkSolverPos__recursive.html</filename>
    <base>KDL::ChainFkSolverPos</base>
    <member kind="function">
      <type></type>
      <name>ChainFkSolverPos_recursive</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos__recursive.html</anchorfile>
      <anchor>ab710e9b2e4b6e2daa09ef3e139c4554e</anchor>
      <arglist>(const Chain &amp;chain)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos__recursive.html</anchorfile>
      <anchor>a2b34c9fae293b9866ede9df203ec1fc8</anchor>
      <arglist>(const JntArray &amp;q_in, Frame &amp;p_out, int segmentNr=-1)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos__recursive.html</anchorfile>
      <anchor>a80e2107f662af8783ad0738fcb4b0718</anchor>
      <arglist>(const JntArray &amp;q_in, std::vector&lt; Frame &gt; &amp;p_out, int segmentNr=-1)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos__recursive.html</anchorfile>
      <anchor>add89f7d75ae7c0c971bb958dda01643c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainFkSolverPos_recursive</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos__recursive.html</anchorfile>
      <anchor>a865a04321e9bf79d56c691445f14d457</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainFkSolverPos__recursive.html</anchorfile>
      <anchor>af6ca8b78affdae1139c732689dba6c7b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFkSolverVel</name>
    <filename>classKDL_1_1ChainFkSolverVel.html</filename>
    <base>KDL::SolverI</base>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel.html</anchorfile>
      <anchor>a7ae7b44890420e9459a3e8da73994edb</anchor>
      <arglist>(const JntArrayVel &amp;q_in, FrameVel &amp;out, int segmentNr=-1)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel.html</anchorfile>
      <anchor>addd81ffa87f3320526d6eae5cd5b00f6</anchor>
      <arglist>(const JntArrayVel &amp;q_in, std::vector&lt; KDL::FrameVel &gt; &amp;out, int segmentNr=-1)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel.html</anchorfile>
      <anchor>ac4390272a86bb3353bf8465150f4c376</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ChainFkSolverVel</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel.html</anchorfile>
      <anchor>a0f16ca3887783696d1b310adbd36f635</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainFkSolverVel_recursive</name>
    <filename>classKDL_1_1ChainFkSolverVel__recursive.html</filename>
    <base>KDL::ChainFkSolverVel</base>
    <member kind="function">
      <type></type>
      <name>ChainFkSolverVel_recursive</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel__recursive.html</anchorfile>
      <anchor>ad00ad7c025ca439ac6caed3de23cfca2</anchor>
      <arglist>(const Chain &amp;chain)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel__recursive.html</anchorfile>
      <anchor>adacf6fa9df12ab1876859d3296f22400</anchor>
      <arglist>(const JntArrayVel &amp;q_in, FrameVel &amp;out, int segmentNr=-1)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel__recursive.html</anchorfile>
      <anchor>a9426f36b788628088e07013e73ce8302</anchor>
      <arglist>(const JntArrayVel &amp;q_in, std::vector&lt; FrameVel &gt; &amp;out, int segmentNr=-1)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel__recursive.html</anchorfile>
      <anchor>a7c366eee0c84a9c7972eb0988cfacae2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainFkSolverVel_recursive</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel__recursive.html</anchorfile>
      <anchor>adde61a798998341b493b29b7a91ced83</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainFkSolverVel__recursive.html</anchorfile>
      <anchor>ae0534c06c0ccbd0e6d374c576c56ac03</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::ChainHdSolver_Vereshchagin</name>
    <filename>classKDL_1_1ChainHdSolver__Vereshchagin.html</filename>
    <base protection="private">KDL::SolverI</base>
    <class kind="struct">KDL::ChainHdSolver_Vereshchagin::segment_info</class>
    <member kind="function">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>a6d48fd72f1e3fa117dba444edb0d5653</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, JntArray &amp;q_dotdot, const Jacobian &amp;alfa, const JntArray &amp;beta, const Wrenches &amp;f_ext, const JntArray &amp;ff_torques, JntArray &amp;constraint_torques)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChainHdSolver_Vereshchagin</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>a2c3cf54bd2f3f4a41e682b5fb3850345</anchor>
      <arglist>(const Chain &amp;chain, const Twist &amp;root_acc, const unsigned int nc)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getContraintForceMagnitude</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>a99676a8e2f3690041e5e609d6808b50e</anchor>
      <arglist>(Eigen::VectorXd &amp;nu_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getTotalTorque</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>a1ce68d9c9974648498a7e28ab8cebb48</anchor>
      <arglist>(JntArray &amp;total_tau)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getTransformedLinkAcceleration</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>aacddb2d51c10a9f29775306728a621d6</anchor>
      <arglist>(Twists &amp;x_dotdot)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>ac7c90c38d928d5bb337a0098ed7bd743</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainHdSolver_Vereshchagin</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>a7b9751243f1a9be9dabf65da582f514e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::vector&lt; Frame &gt;</type>
      <name>Frames</name>
      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
      <anchor>aa371b4dfcc062fac73a6ff606b207eec</anchor>
      <arglist></arglist>
    </member>
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      <arglist>(const JntArray &amp;beta)</arglist>
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      <arglist>(const Jacobian &amp;alfa, const JntArray &amp;ff_torques)</arglist>
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      <arglist>(JntArray &amp;q_dotdot, JntArray &amp;constraint_torques)</arglist>
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      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;q_dotdot, const Wrenches &amp;f_ext)</arglist>
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      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>Eigen::MatrixXd</type>
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      <arglist></arglist>
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      <type>unsigned int</type>
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      <anchorfile>classKDL_1_1ChainHdSolver__Vereshchagin.html</anchorfile>
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      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;q_dotdot, const Wrenches &amp;f_ext, JntArray &amp;torques)=0</arglist>
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      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;q_dotdot, const Wrenches &amp;f_ext, JntArray &amp;torques)</arglist>
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      <arglist>(const Chain &amp;chain, Vector grav)</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>unsigned int</type>
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      <type>virtual int</type>
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      <arglist>(const JntArray &amp;q_in, const Twist &amp;v_in, const Twist &amp;a_in, JntArray &amp;qdot_out, JntArray &amp;qdotdot_out)=0</arglist>
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      <arglist>(const JntArray &amp;q_init, const Frame &amp;p_in, const JntArray &amp;qdot_in, const Twist &amp;a_in, JntArray &amp;q_out, JntArray &amp;qdotdot_out)=0</arglist>
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      <arglist>()=0</arglist>
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      <anchorfile>classKDL_1_1ChainIkSolverAcc.html</anchorfile>
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      <arglist>()</arglist>
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      <type>virtual int</type>
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      <arglist>(const JntArray &amp;q_init, const Frame &amp;p_in, JntArray &amp;q_out)=0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>(const KDL::JntArray &amp;q_init, const KDL::Frame &amp;T_base_goal, KDL::JntArray &amp;q_out)</arglist>
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    <member kind="function">
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      <name>ChainIkSolverPos_LMA</name>
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      <arglist>(const KDL::Chain &amp;_chain, const Eigen::Matrix&lt; double, 6, 1 &gt; &amp;_L, double _eps=1E-5, int _maxiter=500, double _eps_joints=1E-15)</arglist>
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      <anchorfile>classKDL_1_1ChainIkSolverPos__LMA.html</anchorfile>
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      <arglist>(const KDL::Chain &amp;_chain, double _eps=1E-5, int _maxiter=500, double _eps_joints=1E-15)</arglist>
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      <arglist>(const VectorXq &amp;q)</arglist>
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      <arglist>(const VectorXq &amp;q)</arglist>
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      <anchorfile>classKDL_1_1ChainIkSolverPos__LMA.html</anchorfile>
      <anchor>ae0278b1db83ccc223b696cd131b8cd99</anchor>
      <arglist>(const KDL::JntArray &amp;jval)</arglist>
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      <name>strError</name>
      <anchorfile>classKDL_1_1ChainIkSolverPos__LMA.html</anchorfile>
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      <arglist>(const int error) const</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classKDL_1_1ChainIkSolverPos__LMA.html</anchorfile>
      <anchor>a068a7af864c449f5053e3ba528c849fb</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ChainIkSolverPos_LMA</name>
      <anchorfile>classKDL_1_1ChainIkSolverPos__LMA.html</anchorfile>
      <anchor>af0f67544c22164785fe757a5ff0cc794</anchor>
      <arglist>()</arglist>
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      <name>display_information</name>
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      <arglist></arglist>
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    <member kind="variable">
      <type>VectorXq</type>
      <name>grad</name>
      <anchorfile>classKDL_1_1ChainIkSolverPos__LMA.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classKDL_1_1ChainIkSolverPos__NR__JL.html</anchorfile>
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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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    <base>KDL::SolverI</base>
    <member kind="function" virtualness="pure">
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      <anchorfile>classKDL_1_1ChainIkSolverVel.html</anchorfile>
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    <member kind="function" virtualness="pure">
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      <arglist>(const JntArray &amp;q_init, const FrameVel &amp;v_in, JntArrayVel &amp;q_out)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchorfile>classKDL_1_1ChainIkSolverVel.html</anchorfile>
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      <arglist>()</arglist>
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  <compound kind="class">
    <name>KDL::ChainIkSolverVel_pinv</name>
    <filename>classKDL_1_1ChainIkSolverVel__pinv.html</filename>
    <base>KDL::ChainIkSolverVel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a202bae1336d36647917b761ee8d5f7ea</anchor>
      <arglist>(const JntArray &amp;q_in, const Twist &amp;v_in, JntArray &amp;qdot_out)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
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      <arglist>(const JntArray &amp;, const FrameVel &amp;, JntArrayVel &amp;)</arglist>
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      <name>ChainIkSolverVel_pinv</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist>(const Chain &amp;chain, double eps=0.00001, int maxiter=150)</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>getNrZeroSigmas</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getSVDResult</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const char *</type>
      <name>strError</name>
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      <arglist>(const int error) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>adfbf3b47f5f4aaf94df885adac06cad1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainIkSolverVel_pinv</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a6b84a108236d152c1aa3e8d42bab4df8</anchor>
      <arglist>()</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_CONVERGE_PINV_SINGULAR</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a5c3646dc5104390e7d6a92490b2785e6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>ae15d4865aa87eed56119383e285b15f0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>eps</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a899ca50575fa2174bb72f8df7a054cd9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jac</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a791d302c1b7c9ff069cc95753e545372</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainJntToJacSolver</type>
      <name>jnt2jac</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a5a5db8bae9e8d072f38e6d099b24ac3a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
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      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>aecff45cca9a71c1f9d05b667e745440c</anchor>
      <arglist></arglist>
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      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a25bdc9ae589ead9552edcfca97dc4d04</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nrZeroSigmas</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
      <anchor>a1770935b3f28015b17e9a2e6c84ec438</anchor>
      <arglist></arglist>
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      <type>JntArray</type>
      <name>S</name>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>SVD_HH</type>
      <name>svd</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist></arglist>
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      <type>JntArray</type>
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      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; JntArray &gt;</type>
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      <arglist></arglist>
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      <type>std::vector&lt; JntArray &gt;</type>
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      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::ChainIkSolverVel_pinv_givens</name>
    <filename>classKDL_1_1ChainIkSolverVel__pinv__givens.html</filename>
    <base>KDL::ChainIkSolverVel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
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      <arglist>(const JntArray &amp;q_in, const Twist &amp;v_in, JntArray &amp;qdot_out)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
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      <arglist>(const JntArray &amp;, const FrameVel &amp;, JntArrayVel &amp;)</arglist>
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    <member kind="function">
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      <name>ChainIkSolverVel_pinv_givens</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a634cddcea313935d38568c25378d05d8</anchor>
      <arglist>(const Chain &amp;chain)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a993d8e4233b7e1095b3ee2d11c40c335</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>~ChainIkSolverVel_pinv_givens</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a5ca0d15a30e3e262809203289403556a</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>B</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>aca7641b46d920a944d7f7130ecaf2880</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a68828eeac014f09fdd8d52e35d364010</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jac</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a7861a56b9728a16cbc7552338a0de402</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>jac_eigen</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a61fb0a2bb88d9e1a1085a64f55dd9c9b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainJntToJacSolver</type>
      <name>jnt2jac</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a34c673857f6db67e6f960990e1311fd2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>m</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>ab57a8928e936c89544f26db52f7a10cf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>n</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a6be933ca68b854f62a01be30eb7c4b11</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>a76aeb1dd6f4ed93f73e8a95bf5c541f0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>qdot_eigen</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>ae731ec917296dcea401f9197ecd8c26b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>S</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>ac601114012ddf1e9866d3ff74c6f00a5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>SUY</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::VectorXd</type>
      <name>tempi</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>ad07eedf2c82aa53d2964edbe53c4dece</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>toggle</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
      <anchor>aea62a3f8460801916f34096744281ea0</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>transpose</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::MatrixXd</type>
      <name>U</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__givens.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>Eigen::VectorXd</type>
      <name>v_in_eigen</name>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::ChainIkSolverVel_pinv_nso</name>
    <filename>classKDL_1_1ChainIkSolverVel__pinv__nso.html</filename>
    <base>KDL::ChainIkSolverVel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>ae4689c53089eb8af85e347d5f61b3892</anchor>
      <arglist>(const JntArray &amp;q_in, const Twist &amp;v_in, JntArray &amp;qdot_out)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a0c893be2870d7f45f29f82e1f368c62b</anchor>
      <arglist>(const JntArray &amp;, const FrameVel &amp;, JntArrayVel &amp;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChainIkSolverVel_pinv_nso</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>ae0d17b252323699610b74a250ff09d5c</anchor>
      <arglist>(const Chain &amp;chain, const JntArray &amp;opt_pos, const JntArray &amp;weights, double eps=0.00001, int maxiter=150, double alpha=0.25)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChainIkSolverVel_pinv_nso</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a782d6678dd98605ca178310e6ad56246</anchor>
      <arglist>(const Chain &amp;chain, double eps=0.00001, int maxiter=150, double alpha=0.25)</arglist>
    </member>
    <member kind="function">
      <type>const double &amp;</type>
      <name>getAlpha</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const JntArray &amp;</type>
      <name>getOptPos</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a9726304f56b8871396fe3b52d5f4dac8</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getSVDResult</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a127ea4e79964bba9a7158d26ab3402ae</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>const JntArray &amp;</type>
      <name>getWeights</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>abb87b0d61e0671cf03d353a79518e421</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setAlpha</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a39822145e8cc1f2a19d8b26992eeb813</anchor>
      <arglist>(const double alpha)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setOptPos</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>ac287e0c600fe7c5996dcbfc33d4ee179</anchor>
      <arglist>(const JntArray &amp;opt_pos)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>setWeights</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a991d5587fc51207edbc64671b3881dc0</anchor>
      <arglist>(const JntArray &amp;weights)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateInternalDataStructures</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a24f21a9fef5411449552a63c60e883ae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ChainIkSolverVel_pinv_nso</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a02787f977861b038ceef4f32c4a9877e</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>alpha</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a481678f2e0633a23204b960a3caa2ddf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Chain &amp;</type>
      <name>chain</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a75f9ccf75108f77d38006f09d986336b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>eps</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a5ceb8e516a333c98238aef4b55405b44</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Jacobian</type>
      <name>jac</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a41ef166e218c34462d0fba63adc3de68</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ChainJntToJacSolver</type>
      <name>jnt2jac</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>ac752dfe139e7664ed9daec3b8d145122</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>maxiter</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>aea2ecb76d7c8c37588dbde28cb44accc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>aac97b5b29cd2c0460d994833251fad94</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>opt_pos</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a247baf9ceb404ccf0cc101405150df05</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>S</name>
      <anchorfile>classKDL_1_1ChainIkSolverVel__pinv__nso.html</anchorfile>
      <anchor>a38f3ed38ed51e14eac4e47a7e3257831</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
      <name>Sinv</name>
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      <arglist>(const Eigen::MatrixXd &amp;Mq)</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>(const std::vector&lt; bool &gt; &amp;locked_joints)</arglist>
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      <arglist>(const int &amp;representation)</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>(TestVector)</arglist>
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      <arglist>(TestVector2DNorm)</arglist>
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      <arglist>(TestRotation)</arglist>
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      <arglist>(TestFrame)</arglist>
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      <arglist>(TestJntArray)</arglist>
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      <arglist>(TestRotationDiff)</arglist>
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      <arglist>(TestEuler)</arglist>
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      <arglist>(TestGetRotAngle)</arglist>
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      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArray</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a39f6e6a9780ad92d97cc42a425805b7a</anchor>
      <arglist>(unsigned int size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArray</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>aeed3edc383df36b8cbd68090893cb029</anchor>
      <arglist>(const JntArray &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>operator()</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a250bd634d127c6aceb1b9c73e372b129</anchor>
      <arglist>(unsigned int i, unsigned int j=0) const</arglist>
    </member>
    <member kind="function">
      <type>double &amp;</type>
      <name>operator()</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>af528b93031f53438df622c214fcf1b07</anchor>
      <arglist>(unsigned int i, unsigned int j=0)</arglist>
    </member>
    <member kind="function">
      <type>JntArray &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a40261a60987c77724f1e18247bee6eae</anchor>
      <arglist>(const JntArray &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a4ea82246fd0aa8badff28deb24c2e629</anchor>
      <arglist>(unsigned int newSize)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>rows</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a3176b3c2ebbeeca6e45a3e8d4d692e5b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~JntArray</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>ad0d4d930850828925df8cd6cbb5cc31d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Eigen::VectorXd</type>
      <name>data</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a59dff4a2f3fa4adedb55c3384238dc74</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>ab1c08f03ff6f9abe10eacd1164cfbddc</anchor>
      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, JntArray &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Divide</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a8814ef73b965e185b0b36fba5e15a886</anchor>
      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>aad5dfe5f81cdc68b34e2552b742811f2</anchor>
      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Multiply</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a6956918c0e57ed9be52d5d16d82abc55</anchor>
      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>MultiplyJacobian</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a548bc4404c259688a4132ff430feb989</anchor>
      <arglist>(const Jacobian &amp;jac, const JntArray &amp;src, Twist &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend bool</type>
      <name>operator==</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a38b0c4bb6970ad5ba73aab199afbb4fb</anchor>
      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>SetToZero</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a37bc48b9845e8d493ffd247c0e5f19f0</anchor>
      <arglist>(JntArray &amp;array)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Subtract</name>
      <anchorfile>classKDL_1_1JntArray.html</anchorfile>
      <anchor>a54d78f9a555efd3dcbdb7833ed855ac9</anchor>
      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, JntArray &amp;dest)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::JntArrayAcc</name>
    <filename>classKDL_1_1JntArrayAcc.html</filename>
    <member kind="function">
      <type>JntArray</type>
      <name>dderiv</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a35c91b5c00522986188b6466c1817bb2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>JntArray</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a0f1f2a7b19de07b8a2d4fed345165aa4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArrayAcc</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a2684216e831cb706dfceb10f75a203d1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArrayAcc</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a7dabbc11ff3ff9ea2676460cd529c0c7</anchor>
      <arglist>(unsigned int size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArrayAcc</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a79855c54dc984f4bf54d16a21fd55761</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;qdot, const JntArray &amp;qdotdot)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArrayAcc</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a46517422fd385350d1b40539e3feb373</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;qdot)</arglist>
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    <member kind="function">
      <type></type>
      <name>JntArrayAcc</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a3799ec327daeca3fb2998ecda8c3c0bc</anchor>
      <arglist>(const JntArray &amp;q)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>ac2369e4f52e4a620cc922d907841bb1b</anchor>
      <arglist>(unsigned int newSize)</arglist>
    </member>
    <member kind="function">
      <type>JntArray</type>
      <name>value</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a481c53cdb1b536f08bd17a4fa149ba93</anchor>
      <arglist>() const</arglist>
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    <member kind="variable">
      <type>JntArray</type>
      <name>q</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a013c7e143935331236ea7f3d7d4fe01c</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>JntArray</type>
      <name>qdot</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>abf9b4563323cf85f61c31d7ac4d85550</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>JntArray</type>
      <name>qdotdot</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a789e6f304326f6386f3fe5001a93f0ef</anchor>
      <arglist></arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>aba1af02fae645ed9edd8419d94529bfe</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a428357a7f67f7aa23f95d9afac2d254f</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayVel &amp;src2, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>ae40e46d979cfcf38b92e0f1207ddac26</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArray &amp;src2, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Divide</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>ac91c79427e7f83ee49394241f2ee76cc</anchor>
      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Divide</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>ab89646d94b6040c954c246609650ed00</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Divide</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a532aa6dee390776b91b94aa37e68488d</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>add8ae3aeba218dc121cfc6b2bb1f4c1f</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, double eps)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Multiply</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a2a90fbb08d13a73c73aac69fc4583250</anchor>
      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Multiply</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a747ad8c62679952ec300592efb3321dd</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Multiply</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a187f91b60defcedeba3ca32145e5f466</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>SetToZero</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a5c6507a8a31940edfc66c66540774010</anchor>
      <arglist>(JntArrayAcc &amp;array)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Subtract</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a5e4fb055c75da0c00dee863676a181b1</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, JntArrayAcc &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Subtract</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a5010390579016f1d363d2aa577dc1ece</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayVel &amp;src2, JntArrayAcc &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Subtract</name>
      <anchorfile>classKDL_1_1JntArrayAcc.html</anchorfile>
      <anchor>a0d17cb7c43c4764acd67f3e7f04b6285</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArray &amp;src2, JntArrayAcc &amp;dest)</arglist>
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    <name>KDL::JntArrayVel</name>
    <filename>classKDL_1_1JntArrayVel.html</filename>
    <member kind="function">
      <type>JntArray</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a00edc595e5950fa9993f7912e9f890d3</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>JntArrayVel</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a4e7332430725f7e7f175b23b43b239eb</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>JntArrayVel</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>ae3f1d5ceb27ac5eb7395ff8998f10277</anchor>
      <arglist>(unsigned int size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArrayVel</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>adf34e8e832db619091806fac9d7bf02e</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;qdot)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>JntArrayVel</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>abb7bc0e17d9fb21275eac33f74c3c8ed</anchor>
      <arglist>(const JntArray &amp;q)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>resize</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a8a10270f9a701b50cc8dcaa61fc9f538</anchor>
      <arglist>(unsigned int newSize)</arglist>
    </member>
    <member kind="function">
      <type>JntArray</type>
      <name>value</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a995fc40c6c084cb2f18875ee7ef7f000</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable">
      <type>JntArray</type>
      <name>q</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a3d1c16da97a33260f4e6ee867bc357b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JntArray</type>
      <name>qdot</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a4cedcb3da3af96a6934fa3cefc5be371</anchor>
      <arglist></arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>ac9811b95852dc20a79162538ef50e073</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a7bb822ff044c345cc1ce8fbf0ebf156e</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArray &amp;src2, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Divide</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a6b6818ec51f0076daa31271438903095</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>Divide</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a7e0f334f61148ef3269297d13a5e5aa0</anchor>
      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
    </member>
    <member kind="friend">
      <type>friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a6d8afe50f29c96132b9796b15ba61539</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, double eps)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Multiply</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a50f46239a4c0a437c8232d0dc9036e10</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Multiply</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>aecdacfc74f5fbc0c992c02f7899c8fb3</anchor>
      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>SetToZero</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a6f3354065f708ebaefca5186b329456a</anchor>
      <arglist>(JntArrayVel &amp;array)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Subtract</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a3b136d5185f2ce6673ba5a1755e64d40</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, JntArrayVel &amp;dest)</arglist>
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    <member kind="friend">
      <type>friend void</type>
      <name>Subtract</name>
      <anchorfile>classKDL_1_1JntArrayVel.html</anchorfile>
      <anchor>a4ff01c1770f79f28403fd956e0e491dd</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArray &amp;src2, JntArrayVel &amp;dest)</arglist>
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    <name>KDL::Joint</name>
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      <name>Fixed</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumeration">
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      <name>JointType</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
      <anchor>ad05f78142c8b73c3977f038a7a2c544e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RotAxis</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RotX</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RotY</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
      <anchor>ad05f78142c8b73c3977f038a7a2c544ea82ced6110c39092f0073540c041275e2</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RotZ</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
      <anchor>ad05f78142c8b73c3977f038a7a2c544eac218b252dc3dbaa7468cb23634e2392f</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>TransAxis</name>
      <anchorfile>classKDL_1_1Joint.html</anchorfile>
      <anchor>ad05f78142c8b73c3977f038a7a2c544ea0580ff75910267d4a9b5f42a16cc7f22</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>TransX</name>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>LengthToS</name>
      <anchorfile>group__Motion.html</anchorfile>
      <anchor>gad7f55a1d6f7a076b0959c76c29cc323d</anchor>
      <arglist>(double length)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path.html</anchorfile>
      <anchor>a095d3ce8d48bd9f8953793c60532cd1a</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path.html</anchorfile>
      <anchor>ab0121ec33eee9525bd3c883a1631bf6c</anchor>
      <arglist>(double s) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path.html</anchorfile>
      <anchor>a6982dc012ef4299cffc1be99ef225d98</anchor>
      <arglist>(double s, double sd) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path.html</anchorfile>
      <anchor>a3c1c34464d34183fc965af1ea260879d</anchor>
      <arglist>(std::ostream &amp;os)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path</name>
      <anchorfile>classKDL_1_1Path.html</anchorfile>
      <anchor>a10f16828c888527755e8a59c906b5a57</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Path *</type>
      <name>Read</name>
      <anchorfile>classKDL_1_1Path.html</anchorfile>
      <anchor>a15dfd941258db019a5b30c666e51b358</anchor>
      <arglist>(std::istream &amp;is)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::Path_Circle</name>
    <filename>classKDL_1_1Path__Circle.html</filename>
    <base>KDL::Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a518a52ffff1e348bf6d63751b583538c</anchor>
      <arglist>(double s, double sd, double sdd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>aecea40890bda02ff12af808b00ea6f83</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual IdentifierType</type>
      <name>getIdentifier</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>abc318bc561a6fc96d589f2ee54f46c73</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>LengthToS</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a9ee876743434ad8c232dc693f237d60d</anchor>
      <arglist>(double length)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Path_Circle</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a2ea743324c49ce71ce07b8add71590ca</anchor>
      <arglist>(const Frame &amp;F_base_start, const Vector &amp;V_base_center, const Vector &amp;V_base_p, const Rotation &amp;R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, bool _aggregate=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a33e50afc4d0d03475ee65d3ee9dfb4f7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>aea97235e3dcc3e4d1e8339de3dd3e445</anchor>
      <arglist>(double s) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a6d12cf804729d6d88b9741d5ad0c30f8</anchor>
      <arglist>(double s, double sd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a20176764e85bc180024b45ac336e37a3</anchor>
      <arglist>(std::ostream &amp;os)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path_Circle</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a7884241172d2a08d3fe97ffcf3e5b5f3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>aggregate</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a1873c3889b106676fe8d90802d8df096</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>eqradius</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a54fe75952f21dc4d63d43bd22a64c239</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Frame</type>
      <name>F_base_center</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a7d8959c4fcfff7447e4b7d3579db1986</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RotationalInterpolation *</type>
      <name>orient</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a28ab38824d05ec0dce4e788c202bb721</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>pathlength</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>ac800c1849eadc199c507fee8c95ce135</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>radius</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>a5c20ed64d1a038dda98293837745d22f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>scalelin</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>aec8e7b778de7f8768618b7527a4957f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>scalerot</name>
      <anchorfile>classKDL_1_1Path__Circle.html</anchorfile>
      <anchor>acc8c849025f0ef75083eb98c1d360725</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::Path_Composite</name>
    <filename>classKDL_1_1Path__Composite.html</filename>
    <base>KDL::Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a5acfb048ac1c00850dfbde09c5c9198c</anchor>
      <arglist>(double s, double sd, double sdd) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a679f396ba2f9f0b83213f88d895ac1c6</anchor>
      <arglist>(Path *geom, bool aggregate=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>aee441fb0bbb122b4798273f0cc4fa731</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>GetCurrentSegmentLocation</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>aa002edee28c5ff6006271daddb436ab2</anchor>
      <arglist>(double s, int &amp;segment_number, double &amp;inner_s)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual IdentifierType</type>
      <name>getIdentifier</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>ae079edab6b343eb42ddc9251f0103172</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>GetLengthToEndOfSegment</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a9b4cfb8ab9e47f66f9aa6b24bc8b67eb</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>GetNrOfSegments</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a5788086a6f9b678e797383a3534938af</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>GetSegment</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a11e28d11f967a77d82167ecb77497de5</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>LengthToS</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a77a6568ab90b5778a3239d43bb05071d</anchor>
      <arglist>(double length)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Path_Composite</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a8dbfb9a72e821839ce491a9add98b3ea</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a466d5ba0411bfcc6def2db149d9de225</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a506faf2f4d52c5d374e021a31d65aab0</anchor>
      <arglist>(double s) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a2836bf1c9ba8f89c8ec1f6dc79e32b06</anchor>
      <arglist>(double s, double sd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>aaaf25f08ed9de56d89f2c0b91e924eb2</anchor>
      <arglist>(std::ostream &amp;os)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path_Composite</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a2634b9540a6d417d0fd4a4f571064043</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>DoubleVector</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a43b4fe18f0584cb61f5d2e80b6dc8e8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::vector&lt; std::pair&lt; Path *, bool &gt; &gt;</type>
      <name>PathVector</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>aad3fbd29cbb70a11a0d18fa6a971f536</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>Lookup</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>abf873591b2ca9354b90b082cc6e9d071</anchor>
      <arglist>(double s) const</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>cached_ends</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>ad80c5ed91ffb87736dfc66837d0729b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>cached_index</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a2618c98caa0e9ca06bb9741ffa78a9bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>cached_starts</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a307bb88dc0a0b07907da9b86d07c0760</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DoubleVector</type>
      <name>dv</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a6c487a4be9cb79ae5630ad8ed7fdd136</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PathVector</type>
      <name>gv</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>aa7f67a8bc3ced143153fe969fc1df3b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>pathlength</name>
      <anchorfile>classKDL_1_1Path__Composite.html</anchorfile>
      <anchor>a8a26dd4e83aad5698d7a8d5e934e5b61</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::Path_Cyclic_Closed</name>
    <filename>classKDL_1_1Path__Cyclic__Closed.html</filename>
    <base>KDL::Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a84cb03dce61a749298028c47d890775d</anchor>
      <arglist>(double s, double sd, double sdd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a627b15d0c226295fc5239a55bbe7de9e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual IdentifierType</type>
      <name>getIdentifier</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>acda44d9c32ae5a7f9ba0b9a3a7152c83</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>LengthToS</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>affc8e733ebea2cc953c3ede63e98bcf1</anchor>
      <arglist>(double length)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Path_Cyclic_Closed</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>ad227379563ca9403c19bfbf723a76931</anchor>
      <arglist>(Path *_geom, int _times, bool _aggregate=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>aef75d2cc39bb3430a7bd9cb9197eb4c9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a9e2f85d9dc600ec162f3e9a9e0a8ab9b</anchor>
      <arglist>(double s) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a05c85d260ab99935f05cbb88423fe595</anchor>
      <arglist>(double s, double sd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>acc4367cce744f63cd9fe0872efc787ce</anchor>
      <arglist>(std::ostream &amp;os)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path_Cyclic_Closed</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a5ac8e6be3c0059c0d37855b580706a07</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Path *</type>
      <name>Read</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a8da7f91527e4593999ec2a3475458d42</anchor>
      <arglist>(std::istream &amp;is)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>aggregate</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a87138143960206b6d82f9f7158970a43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Path *</type>
      <name>geom</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a7e507d9b082bdd30293107ed2a54b577</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>times</name>
      <anchorfile>classKDL_1_1Path__Cyclic__Closed.html</anchorfile>
      <anchor>a8313827496af74a6493ff82054fedb33</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::Path_Line</name>
    <filename>classKDL_1_1Path__Line.html</filename>
    <base>KDL::Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>acb27d85f86eab3b0946835746665c1ff</anchor>
      <arglist>(double s, double sd, double sdd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>ace0ec0812ca24700061af1b7fe5e898c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual IdentifierType</type>
      <name>getIdentifier</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>ab8345944b208bf4715df86ed99982a8b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>LengthToS</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a972c1d45a18ff464da6ed01fb8613d27</anchor>
      <arglist>(double length)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Path_Line</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a1ea3f21f577aee2a4252c5a802b6a7f2</anchor>
      <arglist>(const Frame &amp;F_base_start, const Frame &amp;F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Path_Line</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>aad9dcba467fad065263f3d07f3b76b6c</anchor>
      <arglist>(const Frame &amp;F_base_start, const Twist &amp;twist_in_base, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a47c2bb2d49e35ab901765f488608ab7e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>af7cd0542bae1752e8340db9b3182bb33</anchor>
      <arglist>(double s) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a69b0f00c5c61c633390c76b9a93bc6c8</anchor>
      <arglist>(double s, double sd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>ab475571f13fca95765696dcc23e84db8</anchor>
      <arglist>(std::ostream &amp;os)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path_Line</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a84f6a9593a8b67868fa07929ae6c4e79</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>aggregate</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>ad9fbf372c9cb56f92dbf6d45ffd81755</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>eqradius</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a4ae08c6b523e1ff5b7481e644cb88a77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RotationalInterpolation *</type>
      <name>orient</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a907dd36ae9b96312d04b22934f2ecd72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>pathlength</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a2f3bea5155b5cb8216ed0de5a173364f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>scalelin</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>ad544981b25c332713885934091534e48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>scalerot</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>adbcf86b75f3c8fe740f3a02407c0098f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Vector</type>
      <name>V_base_end</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a86856f07c1e7062d1faa1c891c77e461</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Vector</type>
      <name>V_base_start</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
      <anchor>a81c8bba71c110bb33f08f6e405ad8ca5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Vector</type>
      <name>V_start_end</name>
      <anchorfile>classKDL_1_1Path__Line.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::Path_Point</name>
    <filename>classKDL_1_1Path__Point.html</filename>
    <base>KDL::Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a67ad2f25fbe4c5c6cc5fe17bdc122fab</anchor>
      <arglist>(double s, double sd, double sdd) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a54b78f0225a17c2e384fdca0267ebe72</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual IdentifierType</type>
      <name>getIdentifier</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a1f0df92db10b750a1ecc11635bf96115</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>LengthToS</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a920f57134fdf4234dd04c7728f978567</anchor>
      <arglist>(double length)</arglist>
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    <member kind="function">
      <type></type>
      <name>Path_Point</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a3ce8e76365cc81c92f6285e5ba5feaf1</anchor>
      <arglist>(const Frame &amp;F_base_start)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a2fc2b2a544257183d4d21bb23029e6ee</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>aecdb16b134d27bb0c6f457e0f340699e</anchor>
      <arglist>(double s) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>a849e3c029cfd21f7488b57c2da79b809</anchor>
      <arglist>(double s, double sd) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>aaee84835ba0e8fc0c39bf48b2e4a681a</anchor>
      <arglist>(std::ostream &amp;os)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path_Point</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>ab2f4ecd33e3769e3f56044167eb592a1</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Frame</type>
      <name>F_base_start</name>
      <anchorfile>classKDL_1_1Path__Point.html</anchorfile>
      <anchor>aac2750961582b732c6628ceedad71271</anchor>
      <arglist></arglist>
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    <name>KDL::Path_RoundedComposite</name>
    <filename>classKDL_1_1Path__RoundedComposite.html</filename>
    <base>KDL::Path</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a22d5cd9898c8b6ad83b71d18ad371156</anchor>
      <arglist>(double s, double sd, double sdd) const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Add</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a85d9f42a52e5704b33629355f2157be4</anchor>
      <arglist>(const Frame &amp;F_base_point)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>Clone</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a120b469f82f6e3ce9b940348b0874398</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Finish</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>ad88828a48011d4b8ef775ff8fb22dff6</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>GetCurrentSegmentLocation</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>ac3e92378de6aa98a8f210901938bbf70</anchor>
      <arglist>(double s, int &amp;segment_number, double &amp;inner_s)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual IdentifierType</type>
      <name>getIdentifier</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a0c2a6d363090e47378c87f8812150244</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>GetLengthToEndOfSegment</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a1a7251edb23c2203e0661917e0624235</anchor>
      <arglist>(int i)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>GetNrOfSegments</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a67f00e07cb66d4d475e26bc69f612947</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Path *</type>
      <name>GetSegment</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a4016b9f5bbacb80464e55cae44d70f33</anchor>
      <arglist>(int i)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>LengthToS</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>ae2a676790cdf8b7356eb7327eb14fde3</anchor>
      <arglist>(double length)</arglist>
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    <member kind="function">
      <type></type>
      <name>Path_RoundedComposite</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a7daf7e92a48c18b06aeab6bb50883e8e</anchor>
      <arglist>(double radius, double eqradius, RotationalInterpolation *orient, bool aggregate=true)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>PathLength</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a858f7fb29c997e9332c4f56b6b1364d3</anchor>
      <arglist>()</arglist>
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      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>ac8580b5928a8a1e0aa8a7ec63c7167d5</anchor>
      <arglist>(double s) const</arglist>
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      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a4178b9c0a175466f655a9a2ede71bccc</anchor>
      <arglist>(double s, double sd) const</arglist>
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      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a72004b635a931a44161ba0677c9f5e73</anchor>
      <arglist>(std::ostream &amp;os)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Path_RoundedComposite</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a3b2bba0b18663c4be8aed87a144cd890</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type></type>
      <name>Path_RoundedComposite</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a61b2c39726adb41c5311034555c08076</anchor>
      <arglist>(Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints)</arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>aggregate</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>aa0f19713e3930f863ec2c07804845167</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Path_Composite *</type>
      <name>comp</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a3ab3fea1818172b298289d0e22788ba7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>ab8dbfad1e15e26bc4e96429406fbb4e3</anchor>
      <arglist></arglist>
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      <type>Frame</type>
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      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>ae61919434682ff75aa5dff58085ba590</anchor>
      <arglist></arglist>
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      <type>Frame</type>
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      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a2ce2efb19a7a668ea97f3ab84128e69a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>nrofpoints</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a7ae030a97ecda4384b09336c401db4db</anchor>
      <arglist></arglist>
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      <type>RotationalInterpolation *</type>
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      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a57097ef3b613d4a40bf3faed92758332</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>radius</name>
      <anchorfile>classKDL_1_1Path__RoundedComposite.html</anchorfile>
      <anchor>a9caffac2bd59ba759918a987506f1fff</anchor>
      <arglist></arglist>
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    <member kind="typedef">
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      <name>gradienttype</name>
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      <arglist></arglist>
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      <name>scalartype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(S rhs)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <arglist>(S rhs)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(S rhs)</arglist>
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      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
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      <arglist>(S rhs)</arglist>
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      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(S c)</arglist>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;r)</arglist>
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    <member kind="function">
      <type>INLINE</type>
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      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>()</arglist>
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      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(typename TI&lt; T &gt;::Arg c)</arglist>
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      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(typename TI&lt; T &gt;::Arg tn, typename TI&lt; V &gt;::Arg afg)</arglist>
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      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;r)</arglist>
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      <name>value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <type>static INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>Identity</name>
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      <arglist>()</arglist>
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      <type>static INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>Zero</name>
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      <arglist>()</arglist>
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      <type>V</type>
      <name>grad</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a297cab318803ef445225ecf2b828f297</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>T</type>
      <name>t</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab541a04f815b080f3fca5b7d8afdd7c1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Rall1d&lt; double &gt;</name>
    <filename>classKDL_1_1Rall1d.html</filename>
    <member kind="typedef">
      <type>double</type>
      <name>gradienttype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad076e730d7adca4d7bb69d4d138d2a04</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>scalartype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5cad9d126bd0fb992382fc9bd310c5c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>valuetype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad13d94174e557a51523d44bc10c2cfc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a2962b372f2ff91246b894be070a58855</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>INLINE double &amp;</type>
      <name>Gradient</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad322339851617b8396d783be7a3d67b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a9f02ec55cc9f1971203055c6b67b9aae</anchor>
      <arglist>(const Rall1d&lt; double, double, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab7beb8aaa7945b6843d79a0c0dc61723</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>afd7b416e337b30e54701a80b769e4c32</anchor>
      <arglist>(const Rall1d&lt; double, double, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ac04f142c3cd823cb2edd2a188032404e</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5fd0097acefb0f7fcdda5eb8c831722c</anchor>
      <arglist>(const Rall1d&lt; double, double, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5e53f82337df1b1e76b16eeca6b8edd9</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a65be9f6d691d571569163b8186e20172</anchor>
      <arglist>(const Rall1d&lt; double, double, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>aabd4018d74cbca30cb686080c910047b</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab6c9ea5b7835cbcae23bd849b124e119</anchor>
      <arglist>(double c)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; double, double, double &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>aae5b0e0c3401ee90a794ac87232be455</anchor>
      <arglist>(const Rall1d&lt; double, double, double &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a4d3c9ee6825a358585138a3b7df5d24c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>af29f1cc1c5e15b602e2ef4463f486cf0</anchor>
      <arglist>(typename TI&lt; double &gt;::Arg c)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a1f4ce9685994c42bc49cc6eb27115b5a</anchor>
      <arglist>(typename TI&lt; double &gt;::Arg tn, typename TI&lt; double &gt;::Arg afg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>abe35d740cd93b66f0dc5909a643d71ce</anchor>
      <arglist>(const Rall1d&lt; double, double, double &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab6d56441849dd8ae263b35c9aeaa8c85</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>INLINE double &amp;</type>
      <name>Value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a0f9b0b7f80b6593c87a8986ecc776630</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static INLINE Rall1d&lt; double, double, double &gt;</type>
      <name>Identity</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a7a5d08f33d39790a110e4c704e5df3d3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static INLINE Rall1d&lt; double, double, double &gt;</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a35b5aae9df87778015339167ca1f2cb1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>grad</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a297cab318803ef445225ecf2b828f297</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>t</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab541a04f815b080f3fca5b7d8afdd7c1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt;</name>
    <filename>classKDL_1_1Rall1d.html</filename>
    <member kind="typedef">
      <type>FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;</type>
      <name>gradienttype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad076e730d7adca4d7bb69d4d138d2a04</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>T</type>
      <name>scalartype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5cad9d126bd0fb992382fc9bd310c5c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Rall1d&lt; T, FVector&lt; T, N &gt; &gt;</type>
      <name>valuetype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad13d94174e557a51523d44bc10c2cfc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a2962b372f2ff91246b894be070a58855</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>INLINE FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt; &amp;</type>
      <name>Gradient</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad322339851617b8396d783be7a3d67b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a9f02ec55cc9f1971203055c6b67b9aae</anchor>
      <arglist>(const Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab7beb8aaa7945b6843d79a0c0dc61723</anchor>
      <arglist>(T rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>afd7b416e337b30e54701a80b769e4c32</anchor>
      <arglist>(const Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ac04f142c3cd823cb2edd2a188032404e</anchor>
      <arglist>(T rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5fd0097acefb0f7fcdda5eb8c831722c</anchor>
      <arglist>(const Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5e53f82337df1b1e76b16eeca6b8edd9</anchor>
      <arglist>(T rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a65be9f6d691d571569163b8186e20172</anchor>
      <arglist>(const Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>aabd4018d74cbca30cb686080c910047b</anchor>
      <arglist>(T rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab6c9ea5b7835cbcae23bd849b124e119</anchor>
      <arglist>(T c)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>aae5b0e0c3401ee90a794ac87232be455</anchor>
      <arglist>(const Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a4d3c9ee6825a358585138a3b7df5d24c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>af29f1cc1c5e15b602e2ef4463f486cf0</anchor>
      <arglist>(typename TI&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt; &gt;::Arg c)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a1f4ce9685994c42bc49cc6eb27115b5a</anchor>
      <arglist>(typename TI&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt; &gt;::Arg tn, typename TI&lt; FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt; &gt;::Arg afg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>abe35d740cd93b66f0dc5909a643d71ce</anchor>
      <arglist>(const Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>Rall1d&lt; T, FVector&lt; T, N &gt; &gt;</type>
      <name>value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab6d56441849dd8ae263b35c9aeaa8c85</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, FVector&lt; T, N &gt; &gt; &amp;</type>
      <name>Value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a0f9b0b7f80b6593c87a8986ecc776630</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt;</type>
      <name>Identity</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a7a5d08f33d39790a110e4c704e5df3d3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static INLINE Rall1d&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;, T &gt;</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a35b5aae9df87778015339167ca1f2cb1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>FVector2&lt; Rall1d&lt; T, FVector&lt; T, N &gt; &gt;, N, T &gt;</type>
      <name>grad</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a297cab318803ef445225ecf2b828f297</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Rall1d&lt; T, FVector&lt; T, N &gt; &gt;</type>
      <name>t</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab541a04f815b080f3fca5b7d8afdd7c1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt;</name>
    <filename>classKDL_1_1Rall1d.html</filename>
    <member kind="typedef">
      <type>RallNd&lt; N-1 &gt;</type>
      <name>gradienttype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad076e730d7adca4d7bb69d4d138d2a04</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>double</type>
      <name>scalartype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5cad9d126bd0fb992382fc9bd310c5c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>RallNd&lt; N-1 &gt;</type>
      <name>valuetype</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad13d94174e557a51523d44bc10c2cfc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>RallNd&lt; N-1 &gt;</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a2962b372f2ff91246b894be070a58855</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>INLINE RallNd&lt; N-1 &gt; &amp;</type>
      <name>Gradient</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ad322339851617b8396d783be7a3d67b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a9f02ec55cc9f1971203055c6b67b9aae</anchor>
      <arglist>(const Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab7beb8aaa7945b6843d79a0c0dc61723</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>afd7b416e337b30e54701a80b769e4c32</anchor>
      <arglist>(const Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ac04f142c3cd823cb2edd2a188032404e</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5fd0097acefb0f7fcdda5eb8c831722c</anchor>
      <arglist>(const Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a5e53f82337df1b1e76b16eeca6b8edd9</anchor>
      <arglist>(double rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a65be9f6d691d571569163b8186e20172</anchor>
      <arglist>(const Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>aabd4018d74cbca30cb686080c910047b</anchor>
      <arglist>(double rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab6c9ea5b7835cbcae23bd849b124e119</anchor>
      <arglist>(double c)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>aae5b0e0c3401ee90a794ac87232be455</anchor>
      <arglist>(const Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a4d3c9ee6825a358585138a3b7df5d24c</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>af29f1cc1c5e15b602e2ef4463f486cf0</anchor>
      <arglist>(typename TI&lt; RallNd&lt; N-1 &gt; &gt;::Arg c)</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a1f4ce9685994c42bc49cc6eb27115b5a</anchor>
      <arglist>(typename TI&lt; RallNd&lt; N-1 &gt; &gt;::Arg tn, typename TI&lt; RallNd&lt; N-1 &gt; &gt;::Arg afg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall1d</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>(const Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt; &amp;r)</arglist>
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    <member kind="function">
      <type>RallNd&lt; N-1 &gt;</type>
      <name>value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>INLINE RallNd&lt; N-1 &gt; &amp;</type>
      <name>Value</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a0f9b0b7f80b6593c87a8986ecc776630</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt;</type>
      <name>Identity</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a7a5d08f33d39790a110e4c704e5df3d3</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static INLINE Rall1d&lt; RallNd&lt; N-1 &gt;, RallNd&lt; N-1 &gt;, double &gt;</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a35b5aae9df87778015339167ca1f2cb1</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>RallNd&lt; N-1 &gt;</type>
      <name>grad</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>a297cab318803ef445225ecf2b828f297</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>RallNd&lt; N-1 &gt;</type>
      <name>t</name>
      <anchorfile>classKDL_1_1Rall1d.html</anchorfile>
      <anchor>ab541a04f815b080f3fca5b7d8afdd7c1</anchor>
      <arglist></arglist>
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    <templarg>V</templarg>
    <templarg>S</templarg>
    <member kind="function">
      <type>INLINE V &amp;</type>
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      <arglist>()</arglist>
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      <type>INLINE V &amp;</type>
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      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
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      <arglist>()</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a653b3edc14fd28eb2ac794fa4b5136cb</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a0472a424db53a653bdadf9ff7c412a37</anchor>
      <arglist>(S rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a53dbf50f03609f1ab871647e0c0a9d16</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>aea980852c0f74e96abfb78d7dfe88840</anchor>
      <arglist>(S rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>ad7d7c9760a6354d6d7c91b43f89e2305</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a13e30d8f67ae6c306657c5d8b296bce5</anchor>
      <arglist>(S rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>afc87d3581a1e0bc541eaa321fc97c11a</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>aca12bcf883198c840e4586429e5eb183</anchor>
      <arglist>(S rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a1a18bf39cef89cc7e575d03dfa55a614</anchor>
      <arglist>(S c)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>ad6e0231e72a335fcbf1af7f25bb94d48</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a1fdf4dfd71d3cae45e6db573fd16fa33</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a4610a3ce4fabd21a15dfcbed1bc25cc2</anchor>
      <arglist>(typename TI&lt; T &gt;::Arg c)</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a37b225537c3e3f254507c290155670b3</anchor>
      <arglist>(typename TI&lt; T &gt;::Arg tn, const V &amp;afg)</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a58999b50b89bd0b22b8723cd1eadc390</anchor>
      <arglist>(typename TI&lt; T &gt;::Arg tn, const V &amp;afg, const V &amp;afg2)</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a2a439ab6e1604a04c9f0d58eaf2d9339</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE T &amp;</type>
      <name>Value</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a77c7ab2fe81cf71e3ca6c3409c14d9be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>Identity</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a6e5e8776ee78b5e2b2d04bb6746bbf1b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a8d577d6493028339de86925238563dc5</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>V</type>
      <name>d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a27889e94024eaccc30af605035dce058</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>V</type>
      <name>dd</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a9e426900b6f34dad1f5a106ed2e9ee4d</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>T</type>
      <name>t</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>af40fca6b962d733bd33d938d8c9b67ca</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt;</name>
    <filename>classKDL_1_1Rall2d.html</filename>
    <member kind="function">
      <type>INLINE RallNd&lt; N-2 &gt; &amp;</type>
      <name>D</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a6c62694a296791698a283d235f89c00f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>INLINE RallNd&lt; N-2 &gt; &amp;</type>
      <name>DD</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a16d180a34f16ff69153e26b70985bc67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a653b3edc14fd28eb2ac794fa4b5136cb</anchor>
      <arglist>(const Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator*=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a0472a424db53a653bdadf9ff7c412a37</anchor>
      <arglist>(double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a53dbf50f03609f1ab871647e0c0a9d16</anchor>
      <arglist>(const Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>aea980852c0f74e96abfb78d7dfe88840</anchor>
      <arglist>(double rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>ad7d7c9760a6354d6d7c91b43f89e2305</anchor>
      <arglist>(const Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a13e30d8f67ae6c306657c5d8b296bce5</anchor>
      <arglist>(double rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>afc87d3581a1e0bc541eaa321fc97c11a</anchor>
      <arglist>(const Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator/=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>aca12bcf883198c840e4586429e5eb183</anchor>
      <arglist>(double rhs)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a1a18bf39cef89cc7e575d03dfa55a614</anchor>
      <arglist>(double c)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>ad6e0231e72a335fcbf1af7f25bb94d48</anchor>
      <arglist>(const Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a1fdf4dfd71d3cae45e6db573fd16fa33</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a4610a3ce4fabd21a15dfcbed1bc25cc2</anchor>
      <arglist>(typename TI&lt; RallNd&lt; N-2 &gt; &gt;::Arg c)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a37b225537c3e3f254507c290155670b3</anchor>
      <arglist>(typename TI&lt; RallNd&lt; N-2 &gt; &gt;::Arg tn, const RallNd&lt; N-2 &gt; &amp;afg)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a58999b50b89bd0b22b8723cd1eadc390</anchor>
      <arglist>(typename TI&lt; RallNd&lt; N-2 &gt; &gt;::Arg tn, const RallNd&lt; N-2 &gt; &amp;afg, const RallNd&lt; N-2 &gt; &amp;afg2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE</type>
      <name>Rall2d</name>
      <anchorfile>classKDL_1_1Rall2d.html</anchorfile>
      <anchor>a2a439ab6e1604a04c9f0d58eaf2d9339</anchor>
      <arglist>(const Rall2d&lt; RallNd&lt; N-2 &gt;, RallNd&lt; N-2 &gt;, double &gt; &amp;r)</arglist>
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      <arglist>(const Vector &amp;X)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const Vector &amp;X)</arglist>
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      <arglist>(double Alfa, double Beta, double Gamma)</arglist>
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      <arglist>(double Alfa, double Beta, double Gamma)</arglist>
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      <arglist>(const Vector &amp;rotvec, double angle)</arglist>
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      <arglist>(double angle)</arglist>
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      <arglist>(double angle)</arglist>
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      <arglist>(double angle)</arglist>
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      <arglist>(const Rotation &amp;a, const Rotation &amp;b, double eps)</arglist>
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      <arglist></arglist>
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      <arglist>(const Rotation &amp;lhs, const Rotation &amp;rhs)</arglist>
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      <arglist>(double angle)</arglist>
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      <arglist>(double angle)</arglist>
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      <arglist>(const Twist &amp;arg) const</arglist>
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      <arglist>(const Rotation &amp;_R)</arglist>
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      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2, double eps)</arglist>
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      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2, double eps)</arglist>
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      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2)</arglist>
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      <anchorfile>classKDL_1_1RotationAcc.html</anchorfile>
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      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend RotationAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationAcc.html</anchorfile>
      <anchor>ad81fe43874ebf62056def95db2bd5a91</anchor>
      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::RotationalInertia</name>
    <filename>classKDL_1_1RotationalInertia.html</filename>
    <member kind="function">
      <type>KDL::Vector</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a965f2ee7b35e52949da72da4eba0886d</anchor>
      <arglist>(const KDL::Vector &amp;omega) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RotationalInertia</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a9aeb48fd7b9d44cb5bc1284cd8410382</anchor>
      <arglist>(double Ixx=0, double Iyy=0, double Izz=0, double Ixy=0, double Ixz=0, double Iyz=0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~RotationalInertia</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a60935f7bdebbd8fd6a2dcd694e794189</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RotationalInertia</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a50fbe96830ed0c31a9de7528c859ae32</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>data</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a84d956cfe35692bc64cf90f8b0923ef3</anchor>
      <arglist>[9]</arglist>
    </member>
    <member kind="friend">
      <type>friend RotationalInertia</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a7f6a4e6436ac8e81ccd6634e4ed90e4d</anchor>
      <arglist>(double a, const RotationalInertia &amp;I)</arglist>
    </member>
    <member kind="friend">
      <type>friend RigidBodyInertia</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a04507a0c6bfbd2fabd4178be65989a42</anchor>
      <arglist>(double a, const RigidBodyInertia &amp;I)</arglist>
    </member>
    <member kind="friend">
      <type>friend Wrench</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a053fe8890d6c3a5fafd5dc7fa65b1b9a</anchor>
      <arglist>(const RigidBodyInertia &amp;I, const Twist &amp;t)</arglist>
    </member>
    <member kind="friend">
      <type>friend RigidBodyInertia</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a356b6345fac27c647f94eed62265a4e3</anchor>
      <arglist>(const Frame &amp;T, const RigidBodyInertia &amp;I)</arglist>
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    <member kind="friend">
      <type>friend RigidBodyInertia</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a8299aeb0c4514205697a571004ece305</anchor>
      <arglist>(const Rotation &amp;R, const RigidBodyInertia &amp;I)</arglist>
    </member>
    <member kind="friend">
      <type>friend RotationalInertia</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>ad0005da22a34748cf2780d97a82ef868</anchor>
      <arglist>(const RotationalInertia &amp;Ia, const RotationalInertia &amp;Ib)</arglist>
    </member>
    <member kind="friend">
      <type>friend RigidBodyInertia</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
      <anchor>a81525c4002e3725a67dd0f730b7e35b4</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>RigidBodyInertia</name>
      <anchorfile>classKDL_1_1RotationalInertia.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::RotationalInterpolation</name>
    <filename>classKDL_1_1RotationalInterpolation.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual Vector</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>ae251ab468aa089bddf6fec758d154dc5</anchor>
      <arglist>(double theta, double thetad, double thetadd) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>Angle</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>a7dbf969c071c5b414e84386ac9967963</anchor>
      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual RotationalInterpolation *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>a22c768e89a2c79c3fefec5a9600fa90f</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Rotation</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>a62d9494047e32abc8e8cf8e389c75eb1</anchor>
      <arglist>(double theta) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>SetStartEnd</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>af6ce679181c35f721b88a289dc9b2e52</anchor>
      <arglist>(Rotation start, Rotation end)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Vector</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>a1fcf542f02ab4308b4d71b130f5c5bd3</anchor>
      <arglist>(double theta, double thetad) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>a2ca5fd8005512f180fd12a49806bca06</anchor>
      <arglist>(std::ostream &amp;os) const =0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RotationalInterpolation</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
      <anchor>a561bad750afa7f214aa6805109f4ecff</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static RotationalInterpolation *</type>
      <name>Read</name>
      <anchorfile>classKDL_1_1RotationalInterpolation.html</anchorfile>
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      <arglist>(std::istream &amp;is)</arglist>
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  <compound kind="class">
    <name>KDL::RotationalInterpolation_SingleAxis</name>
    <filename>classKDL_1_1RotationalInterpolation__SingleAxis.html</filename>
    <base>KDL::RotationalInterpolation</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Vector</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a0b38f1fe0f36855b5c06e750b2c47314</anchor>
      <arglist>(double th, double thd, double thdd) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Angle</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a8d85deaf915c30d7f1bec7af0530cb7f</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual RotationalInterpolation *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a63ad631bb62bd3e2609aa93dbe296da1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Rotation</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>ad9e8466ea20d2fb43850853dd2e0ecfc</anchor>
      <arglist>(double th) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RotationalInterpolation_SingleAxis</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>aa8479bf0cad238fa6bf7fe9933fa8515</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetStartEnd</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a90fadf08e5a6a242713e2ef62a998e25</anchor>
      <arglist>(Rotation start, Rotation end)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Vector</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a0ff831fe3ac847ae0ec42775dad73f27</anchor>
      <arglist>(double th, double thd) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a74141103bbe01d3fb16695f5eba3dd27</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RotationalInterpolation_SingleAxis</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>ac3ee2d3d05317fee9ed52f85c82d0dc9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>angle</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a360cd7fd7fe55b16f20659f68fc3a38a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Rotation</type>
      <name>R_base_end</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a0898f0552c7ad31a6dbfe421d34fad16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Rotation</type>
      <name>R_base_start</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a436ec709bd34c0f6519ef0ad304d63c6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Vector</type>
      <name>rot_start_end</name>
      <anchorfile>classKDL_1_1RotationalInterpolation__SingleAxis.html</anchorfile>
      <anchor>a746301c8c246b9a69a02cea2cc98eeac</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::RotationVel</name>
    <filename>classKDL_1_1RotationVel.html</filename>
    <member kind="function">
      <type>Vector</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a40958600a097df56867c477e20738696</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>DoRotX</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ab46bacd9316fbce13fed525c1e6c8223</anchor>
      <arglist>(const doubleVel &amp;angle)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>DoRotY</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ab65743af4d6caa11f500b5aa2023d410</anchor>
      <arglist>(const doubleVel &amp;angle)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>DoRotZ</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ac37639bf292a7076025dfb382f1ee874</anchor>
      <arglist>(const doubleVel &amp;angle)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD RotationVel</type>
      <name>Inverse</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a3b08ee648757e2cebc6a19fdd508ce9f</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>IMETHOD VectorVel</type>
      <name>Inverse</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a90f8b6dc2b81e7ffd888b8fc0926d5d9</anchor>
      <arglist>(const VectorVel &amp;arg) const</arglist>
    </member>
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      <type>IMETHOD VectorVel</type>
      <name>Inverse</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a59526e654b12f2aebeb6a28687f03e12</anchor>
      <arglist>(const Vector &amp;arg) const</arglist>
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    <member kind="function">
      <type>IMETHOD TwistVel</type>
      <name>Inverse</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ad390e0fb49d8860a9445044a182e778d</anchor>
      <arglist>(const TwistVel &amp;arg) const</arglist>
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      <type>IMETHOD TwistVel</type>
      <name>Inverse</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a5cafbeb61d5c6a6fbeac95c5ce8e3b84</anchor>
      <arglist>(const Twist &amp;arg) const</arglist>
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      <type>IMETHOD VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ae6b986c0c33460438978b786ffb18867</anchor>
      <arglist>(const VectorVel &amp;arg) const</arglist>
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      <type>IMETHOD VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a0f0a14113b94df7371adc7010b98c3d7</anchor>
      <arglist>(const Vector &amp;arg) const</arglist>
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    <member kind="function">
      <type>IMETHOD TwistVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a48e2deaeb3111f9c4b3bd8735a52441f</anchor>
      <arglist>(const TwistVel &amp;arg) const</arglist>
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    <member kind="function">
      <type>IMETHOD TwistVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>abc1e5dd5ebf0295215e0610f041441db</anchor>
      <arglist>(const Twist &amp;arg) const</arglist>
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    <member kind="function">
      <type>IMETHOD RotationVel &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a36978b5fbc14047fdba3f10ea7d78daf</anchor>
      <arglist>(const RotationVel &amp;arg)</arglist>
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      <type>IMETHOD RotationVel &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a6b913e295aac5a439995d99f6a04b627</anchor>
      <arglist>(const Rotation &amp;arg)</arglist>
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      <type></type>
      <name>RotationVel</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a9b9dd57f815c0e36f2067867dc090778</anchor>
      <arglist>()</arglist>
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      <type></type>
      <name>RotationVel</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>acd5d416a2922afc581f244cf7b7993cf</anchor>
      <arglist>(const Rotation &amp;_R)</arglist>
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      <name>RotationVel</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a3680af08ae2318bf86e793d7785dc37a</anchor>
      <arglist>(const Rotation &amp;_R, const Vector &amp;_w)</arglist>
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    <member kind="function">
      <type>IMETHOD VectorVel</type>
      <name>UnitX</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a460c61bcf94b9782695f7adc3324376a</anchor>
      <arglist>() const</arglist>
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      <type>IMETHOD VectorVel</type>
      <name>UnitY</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a1185bac322af677712a8cec6e3070557</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>IMETHOD VectorVel</type>
      <name>UnitZ</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>Rotation</type>
      <name>value</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ada54e6c417507aac053e6a3c15e3fd8b</anchor>
      <arglist>() const</arglist>
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    <member kind="function" static="yes">
      <type>static IMETHOD RotationVel</type>
      <name>Identity</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a4f04b2e1f5b6bc15f75cc3430644324e</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static IMETHOD RotationVel</type>
      <name>Rot</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a656cd1c47442d72f3c2fc9be017558f8</anchor>
      <arglist>(const Vector &amp;rotvec, const doubleVel &amp;angle)</arglist>
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    <member kind="function" static="yes">
      <type>static IMETHOD RotationVel</type>
      <name>Rot2</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>abea45a6dabc8afd7bce83055cf5265f5</anchor>
      <arglist>(const Vector &amp;rotvec, const doubleVel &amp;angle)</arglist>
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    <member kind="function" static="yes">
      <type>static IMETHOD RotationVel</type>
      <name>RotX</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a5093811dbac9b5dbbd717bb241376f24</anchor>
      <arglist>(const doubleVel &amp;angle)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static IMETHOD RotationVel</type>
      <name>RotY</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>ace38098fd10b8a8ccbe5abbb3198d5e9</anchor>
      <arglist>(const doubleVel &amp;angle)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static IMETHOD RotationVel</type>
      <name>RotZ</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a22630379ffe864673bb003adf85a4483</anchor>
      <arglist>(const doubleVel &amp;angle)</arglist>
    </member>
    <member kind="variable">
      <type>Rotation</type>
      <name>R</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>abedea5aebf8b52c940c2fe0d31888fda</anchor>
      <arglist></arglist>
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      <type>Vector</type>
      <name>w</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>abb9af995b6b6e823d84f730c85d337e5</anchor>
      <arglist></arglist>
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    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a5de55dd5b2ab677385aab17ec44aa59b</anchor>
      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>a8c3603deb8779771b9f7aa3d2c0abbf8</anchor>
      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2, double eps)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1RotationVel.html</anchorfile>
      <anchor>aab9627c8f9f2cc1fdbfb7420298aa41b</anchor>
      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator!=</name>
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    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Trajectory__Segment.html</anchorfile>
      <anchor>ab97f19403883f56aa43f647e3dfffc77</anchor>
      <arglist>(double time) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Trajectory__Segment.html</anchorfile>
      <anchor>abacfbca87fb80791ce64a2ebafdc5de3</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Trajectory_Segment</name>
      <anchorfile>classKDL_1_1Trajectory__Segment.html</anchorfile>
      <anchor>a14a00aafe3ad26baf11240f138c24804</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>aggregate</name>
      <anchorfile>classKDL_1_1Trajectory__Segment.html</anchorfile>
      <anchor>a37b6f4e849beb7aa22275c895c5a6855</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Path *</type>
      <name>geom</name>
      <anchorfile>classKDL_1_1Trajectory__Segment.html</anchorfile>
      <anchor>a408b02ea21af479b9ada26a7cd70e57b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>VelocityProfile *</type>
      <name>motprof</name>
      <anchorfile>classKDL_1_1Trajectory__Segment.html</anchorfile>
      <anchor>a2f3f407a26759dd4e461861fa330d998</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::Trajectory_Stationary</name>
    <filename>classKDL_1_1Trajectory__Stationary.html</filename>
    <base>KDL::Trajectory</base>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
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      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Trajectory *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>ac7a576a9bd621ba73786098b277a6925</anchor>
      <arglist>() const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>afac070608af534e42e37adb4b16ff7b2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Frame</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>af3695ed188cdb7d6276187a072a32901</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory_Stationary</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>aec186b66aa093ca1e43ab7fb24cc5b91</anchor>
      <arglist>(double _duration, const Frame &amp;_pos)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Twist</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>ad064a15c39729cabd7b355378c7c155c</anchor>
      <arglist>(double time) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>ae16e7210aeb50bf8314243c9053666c8</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Trajectory_Stationary</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>ab9a3dfd6f667b2dd7250ba8f200eb87d</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>duration</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>a3909744ffb8c685da89d890ea8ce4609</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Frame</type>
      <name>pos</name>
      <anchorfile>classKDL_1_1Trajectory__Stationary.html</anchorfile>
      <anchor>a2dccf74509bf5d4e9918479493311112</anchor>
      <arglist></arglist>
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    <filename>classKDL_1_1Tree.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>addChain</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
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      <arglist>(const Chain &amp;chain, const std::string &amp;hook_name)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>addSegment</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
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      <arglist>(const Segment &amp;segment, const std::string &amp;hook_name)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>addTree</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
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      <arglist>(const Tree &amp;tree, const std::string &amp;hook_name)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getChain</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a8f68dc4d321c6c74a35f30fb1966b1e7</anchor>
      <arglist>(const std::string &amp;chain_root, const std::string &amp;chain_tip, Chain &amp;chain) const</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>getNrOfJoints</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>afd53537e6aeacc9f8a524f6ea90d1360</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>getNrOfSegments</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a654283bac6ca20937f32c728188204e6</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>SegmentMap::const_iterator</type>
      <name>getRootSegment</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a5e09f42e17a4916ddb82467f07c3b777</anchor>
      <arglist>() const</arglist>
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      <type>SegmentMap::const_iterator</type>
      <name>getSegment</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
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      <arglist>(const std::string &amp;segment_name) const</arglist>
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      <type>const SegmentMap &amp;</type>
      <name>getSegments</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getSubTree</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>acf6603c458e8ebbc86e20e4185b2c42c</anchor>
      <arglist>(const std::string &amp;segment_name, Tree &amp;tree) const</arglist>
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    <member kind="function">
      <type>Tree &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
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      <arglist>(const Tree &amp;arg)</arglist>
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    <member kind="function">
      <type></type>
      <name>Tree</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>acdc877b83d656b85ac5e8d9a1f162f3c</anchor>
      <arglist>(const std::string &amp;root_name=&quot;root&quot;)</arglist>
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    <member kind="function">
      <type></type>
      <name>Tree</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>adb37b7fbd9be35e875efc3c84af67090</anchor>
      <arglist>(const Tree &amp;in)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Tree</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a992c012dce434166eebaa759087e5fdb</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>bool</type>
      <name>addTreeRecursive</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a825fb0cbb281afd4dd03fe7efe1974f0</anchor>
      <arglist>(SegmentMap::const_iterator root, const std::string &amp;hook_name)</arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nrOfJoints</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a2ceab0992f079a0c660ecea04adc0c5f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nrOfSegments</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a8243891d120587880d5c0208a5e4c41d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>root_name</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a44ddc18522a5cd2ea096dce215f309ec</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>SegmentMap</type>
      <name>segments</name>
      <anchorfile>classKDL_1_1Tree.html</anchorfile>
      <anchor>a5004f557bed3267e3a501fa8bcd6bba2</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::TreeElement</name>
    <filename>classKDL_1_1TreeElement.html</filename>
    <member kind="function">
      <type></type>
      <name>TreeElement</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>a9305dfb254ef08249d2f2ef2e59d3f0a</anchor>
      <arglist>(const Segment &amp;segment_in, const SegmentMap::const_iterator &amp;parent_in, unsigned int q_nr_in)</arglist>
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    <member kind="function" static="yes">
      <type>static TreeElementType</type>
      <name>Root</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>aecc54c66c2b34d382db30fb6b33dfe45</anchor>
      <arglist>(const std::string &amp;root_name)</arglist>
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    <member kind="variable">
      <type>std::vector&lt; SegmentMap::const_iterator &gt;</type>
      <name>children</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>abfe162c8158fc7e3c4f756a0c3f263b2</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>SegmentMap::const_iterator</type>
      <name>parent</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>a97b917483495572c1974cdb42be1f90f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>unsigned int</type>
      <name>q_nr</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>a675746fbafaaa804cc738e011648a033</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Segment</type>
      <name>segment</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>a9cb3f19941e41a5d629da36d2a632dd1</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type></type>
      <name>TreeElement</name>
      <anchorfile>classKDL_1_1TreeElement.html</anchorfile>
      <anchor>a57fb29e6706d756f73251fc8b3577550</anchor>
      <arglist>(const std::string &amp;name)</arglist>
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  <compound kind="class">
    <name>KDL::TreeFkSolverPos</name>
    <filename>classKDL_1_1TreeFkSolverPos.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos.html</anchorfile>
      <anchor>a67adfad687f9f1e2e9fd5bca8eb5bb9a</anchor>
      <arglist>(const JntArray &amp;q_in, Frame &amp;p_out, std::string segmentName)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TreeFkSolverPos</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos.html</anchorfile>
      <anchor>a405729e9f7b7dc4efd10169ddd17002c</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>KDL::TreeFkSolverPos_recursive</name>
    <filename>classKDL_1_1TreeFkSolverPos__recursive.html</filename>
    <base>KDL::TreeFkSolverPos</base>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>JntToCart</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos__recursive.html</anchorfile>
      <anchor>a1d88124902985f80eb5144ac78cd9ab6</anchor>
      <arglist>(const JntArray &amp;q_in, Frame &amp;p_out, std::string segmentName)</arglist>
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    <member kind="function">
      <type></type>
      <name>TreeFkSolverPos_recursive</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos__recursive.html</anchorfile>
      <anchor>a229604f04eeb4a546b6b05f03d4f9239</anchor>
      <arglist>(const Tree &amp;tree)</arglist>
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    <member kind="function">
      <type></type>
      <name>~TreeFkSolverPos_recursive</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos__recursive.html</anchorfile>
      <anchor>a564f632bc2ecdc6dc42413fc5c54ab55</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>Frame</type>
      <name>recursiveFk</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos__recursive.html</anchorfile>
      <anchor>a8cce7769402bf3af7a269d0b0da65e50</anchor>
      <arglist>(const JntArray &amp;q_in, const SegmentMap::const_iterator &amp;it)</arglist>
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    <member kind="variable" protection="private">
      <type>const Tree</type>
      <name>tree</name>
      <anchorfile>classKDL_1_1TreeFkSolverPos__recursive.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::TreeIdSolver</name>
    <filename>classKDL_1_1TreeIdSolver.html</filename>
    <base>KDL::SolverI</base>
    <member kind="function" virtualness="pure">
      <type>virtual int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIdSolver.html</anchorfile>
      <anchor>a2124bba6e94b9d83534113fd372eb653</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;q_dotdot, const WrenchMap &amp;f_ext, JntArray &amp;torques)=0</arglist>
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  <compound kind="class">
    <name>KDL::TreeIdSolver_RNE</name>
    <filename>classKDL_1_1TreeIdSolver__RNE.html</filename>
    <base>KDL::TreeIdSolver</base>
    <member kind="function">
      <type>int</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a75267397fac4995f58af1f006e0a18ad</anchor>
      <arglist>(const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;q_dotdot, const WrenchMap &amp;f_ext, JntArray &amp;torques)</arglist>
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    <member kind="function">
      <type></type>
      <name>TreeIdSolver_RNE</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a1ed0550833118fc583823d99bb2f29b3</anchor>
      <arglist>(const Tree &amp;tree, Vector grav)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a1a2850b7607a176313f03f7fa61d6814</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>initAuxVariables</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>abb1444e39ff3dac14e7484464e486720</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>rne_step</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a4a876eda53317784644758022e12c298</anchor>
      <arglist>(SegmentMap::const_iterator segment, const JntArray &amp;q, const JntArray &amp;q_dot, const JntArray &amp;q_dotdot, const WrenchMap &amp;f_ext, JntArray &amp;torques)</arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, Twist &gt;</type>
      <name>a</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a47aa943ffc89504001e403a6026f576d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Twist</type>
      <name>ag</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a58885d9cd050863cb3222afa05ee14e4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, Wrench &gt;</type>
      <name>f</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a4820c36c37c53ea7c75462566d78f966</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>nj</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a380a2d726491855beae017c7e2576c86</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>ns</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a85d747210462c0ccf108165fce24b452</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, Twist &gt;</type>
      <name>S</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a6469f77cd47bea95975c0e544a5c2441</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Tree &amp;</type>
      <name>tree</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>afacdc675649fef061300789a98f42abc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, Twist &gt;</type>
      <name>v</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>aaebe43d51338496265478bde334169ab</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, Frame &gt;</type>
      <name>X</name>
      <anchorfile>classKDL_1_1TreeIdSolver__RNE.html</anchorfile>
      <anchor>a4699de17a1caca970add4feda464da81</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::TreeIkSolverPos</name>
    <filename>classKDL_1_1TreeIkSolverPos.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos.html</anchorfile>
      <anchor>a77795829bd2d1fd8fe1a56a733fea37f</anchor>
      <arglist>(const JntArray &amp;q_init, const Frames &amp;p_in, JntArray &amp;q_out)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TreeIkSolverPos</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos.html</anchorfile>
      <anchor>a0fae35ba2aeb4ec2ab0ef55d077177e6</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>KDL::TreeIkSolverPos_NR_JL</name>
    <filename>classKDL_1_1TreeIkSolverPos__NR__JL.html</filename>
    <base>KDL::TreeIkSolverPos</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a21593faff46cb29d28674de48fb0fa45</anchor>
      <arglist>(const JntArray &amp;q_init, const Frames &amp;p_in, JntArray &amp;q_out)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TreeIkSolverPos_NR_JL</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a3cc4f4023f588eaf7f8458a0da0cd6d5</anchor>
      <arglist>(const Tree &amp;tree, const std::vector&lt; std::string &gt; &amp;endpoints, const JntArray &amp;q_min, const JntArray &amp;q_max, TreeFkSolverPos &amp;fksolver, TreeIkSolverVel &amp;iksolver, unsigned int maxiter=100, double eps=1e-6)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TreeIkSolverPos_NR_JL</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a868976a0d7499c0d620c5c349ae28fe1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>delta_q</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a41b28d349dcb140bb5bb4c915fcd12f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Twists</type>
      <name>delta_twists</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a0338c7b679c8098fed2a9174734d6b64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>endpoints</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a5df2096269e5ea970afb7e4fa715c185</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>eps</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a6e593b2fd2228bb6ebef50765885c619</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TreeFkSolverPos &amp;</type>
      <name>fksolver</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>ad3a75e059477022391a9208240bd7e86</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Frames</type>
      <name>frames</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a53eae1a00c9f812ebb4531e0ab5f897f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TreeIkSolverVel &amp;</type>
      <name>iksolver</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>aec6d9e353ef054c63b1e9f61187b39cb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>maxiter</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>a50a8c815ac8df7064a94e56862be52d8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>q_max</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>ad0d4ce5c070e78329255efb56afc5063</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
      <name>q_min</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
      <anchor>acc5ea1a01ec3350fc14370d4e3c03669</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Tree</type>
      <name>tree</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__NR__JL.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::TreeIkSolverPos_Online</name>
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    <base>KDL::TreeIkSolverPos</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
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      <arglist>(const JntArray &amp;q_in, const Frames &amp;p_in, JntArray &amp;q_out)</arglist>
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      <name>TreeIkSolverPos_Online</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
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      <arglist>(const double &amp;nr_of_jnts, const std::vector&lt; std::string &gt; &amp;endpoints, const JntArray &amp;q_min, const JntArray &amp;q_max, const JntArray &amp;q_dot_max, const double x_dot_trans_max, const double x_dot_rot_max, TreeFkSolverPos &amp;fksolver, TreeIkSolverVel &amp;iksolver)</arglist>
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    <member kind="function">
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      <name>~TreeIkSolverPos_Online</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchor>a17ff01805255ce10b32517c483fe9292</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Twists</type>
      <name>delta_twists_</name>
      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>afd4833fbffcaccb14df1ca11e30ff3b1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TreeFkSolverPos &amp;</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>af4741d06d4a624164e5503b43366eaeb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Frames</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>a754d7752b838578e0118b0ced19c61f3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TreeIkSolverVel &amp;</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>acdc359e2ded29e09fd4c39bed8befb30</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>a6fd90b7fe6c1e9895788f90d53f8f26b</anchor>
      <arglist></arglist>
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      <type>JntArray</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>a08f08e27fab6562b9d5e98597b96e0cd</anchor>
      <arglist></arglist>
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      <type>JntArray</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>aae026737b65358e7ce39a290188112c2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>JntArray</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
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      <arglist></arglist>
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      <type>Twist</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>af060ac0b793d8b6281581be37ccfec3f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>ac4438b9862216ac66062b8db20dae6e5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classKDL_1_1TreeIkSolverPos__Online.html</anchorfile>
      <anchor>a799c3980c341d1e503541922617208f2</anchor>
      <arglist></arglist>
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    <filename>classKDL_1_1TreeIkSolverVel.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel.html</anchorfile>
      <anchor>aba23834412d2361335b188aee8dfb4fd</anchor>
      <arglist>(const JntArray &amp;q_in, const Twists &amp;v_in, JntArray &amp;qdot_out)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TreeIkSolverVel</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel.html</anchorfile>
      <anchor>aea2a6a717589be92b83d1685539bd081</anchor>
      <arglist>()</arglist>
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    <base>KDL::TreeIkSolverVel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>CartToJnt</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>abf66f6cf12b0198206672a3162995f71</anchor>
      <arglist>(const JntArray &amp;q_in, const Twists &amp;v_in, JntArray &amp;qdot_out)</arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Eigen::MatrixXd &amp;</type>
      <name>getWeightJS</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const Eigen::MatrixXd &amp;</type>
      <name>getWeightTS</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a84cedb1a22881636286c52ab88d2f019</anchor>
      <arglist>() const</arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist>(const double &amp;lambda)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWeightJS</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a4386da9f7afa87c081d6dd616e17937d</anchor>
      <arglist>(const Eigen::MatrixXd &amp;Mq)</arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a845a862d5869a568daf57a901af394fc</anchor>
      <arglist>(const Eigen::MatrixXd &amp;Mx)</arglist>
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    <member kind="function">
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      <name>TreeIkSolverVel_wdls</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a63a76294e5e67ff40ba3206e950bdb8f</anchor>
      <arglist>(const Tree &amp;tree, const std::vector&lt; std::string &gt; &amp;endpoints)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TreeIkSolverVel_wdls</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a1f283c3a0acadd376eb7d5654369bd04</anchor>
      <arglist>()</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>E_SVD_FAILED</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a532c5be4d009613a9a52bef66c736160</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>J</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::MatrixXd</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <type>Jacobians</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a685cb7e634ae290656508981d0796c39</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TreeJntToJacSolver</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a57b38bdee58095fdd2d090209d98bc3a</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>ade9cb80d3d668e88df5986e47799c3f1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a9eced55d3205a577f0361d25d4eb27cf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::VectorXd</type>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a1d4d53edc02033027cee0dd1bda6454d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Tree</type>
      <name>tree</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
      <anchor>a88d05ff2a4d04de7f342e59e5d5fed4b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::MatrixXd</type>
      <name>U</name>
      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1TreeIkSolverVel__wdls.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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      <type>void</type>
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      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classTreeInvDynTest.html</anchorfile>
      <anchor>ae20f32510efa72c401662ea122eae9c2</anchor>
      <arglist>()</arglist>
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      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>()</arglist>
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      <name>CPPUNIT_TEST</name>
      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>(UpdateTreeTest)</arglist>
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      <name>CPPUNIT_TEST</name>
      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>(TwoChainsTest)</arglist>
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      <name>CPPUNIT_TEST</name>
      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>(YTreeTest)</arglist>
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      <anchorfile>classTreeInvDynTest.html</anchorfile>
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      <arglist>(TreeInvDynTest)</arglist>
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      <arglist></arglist>
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      <arglist>(const Vector &amp;v_base_AB) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Vector &amp;_vel, const Vector &amp;_rot)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(const Twist &amp;a, const Twist &amp;b, double eps)</arglist>
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      <arglist></arglist>
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      <arglist>(const Twist &amp;a, const Twist &amp;b)</arglist>
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      <arglist>(const Twist &amp;lhs, double rhs)</arglist>
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      <arglist>(double lhs, const Twist &amp;rhs)</arglist>
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      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
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      <arglist>(const Twist &amp;lhs, const Wrench &amp;rhs)</arglist>
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      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
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      <arglist>(Twist &amp;v)</arglist>
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      <arglist>() const</arglist>
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      <arglist></arglist>
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      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
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      <arglist>(double lhs, const TwistAcc &amp;rhs)</arglist>
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      <arglist>(const TwistAcc &amp;lhs, const doubleAcc &amp;rhs)</arglist>
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      <arglist>(const doubleAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
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      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
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      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
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      <arglist>(const TwistAcc &amp;arg)</arglist>
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      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
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      <arglist>(const TwistAcc &amp;lhs, const doubleAcc &amp;rhs)</arglist>
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      <arglist></arglist>
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      <anchorfile>classKDL_1_1TwistAcc.html</anchorfile>
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      <arglist>(TwistAcc &amp;v)</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classKDL_1_1TwistVel.html</anchorfile>
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      <arglist>() const</arglist>
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      <anchorfile>classKDL_1_1TwistVel.html</anchorfile>
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      <arglist>() const</arglist>
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      <name>operator+=</name>
      <anchorfile>classKDL_1_1TwistVel.html</anchorfile>
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      <arglist>(const TwistVel &amp;arg)</arglist>
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      <anchorfile>classKDL_1_1TwistVel.html</anchorfile>
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      <arglist>(const TwistVel &amp;arg)</arglist>
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      <name>RefPoint</name>
      <anchorfile>classKDL_1_1TwistVel.html</anchorfile>
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      <arglist>(const VectorVel &amp;v_base_AB)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const VectorVel &amp;_vel, const VectorVel &amp;_rot)</arglist>
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      <anchorfile>classKDL_1_1TwistVel.html</anchorfile>
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      <arglist>(const Twist &amp;p, const Twist &amp;v)</arglist>
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      <arglist>(const Twist &amp;p)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b, double eps)</arglist>
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      <arglist>(const Twist &amp;a, const TwistVel &amp;b, double eps)</arglist>
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      <arglist>(const TwistVel &amp;a, const Twist &amp;b, double eps)</arglist>
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      <arglist></arglist>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b)</arglist>
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      <arglist>(const Twist &amp;a, const TwistVel &amp;b)</arglist>
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      <arglist>(const TwistVel &amp;a, const Twist &amp;b)</arglist>
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      <arglist>(const TwistVel &amp;lhs, double rhs)</arglist>
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      <arglist>(double lhs, const TwistVel &amp;rhs)</arglist>
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      <arglist>(const doubleVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
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      <arglist>(const TwistVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
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      <arglist>(const TwistVel &amp;arg)</arglist>
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      <arglist>(const TwistVel &amp;lhs, double rhs)</arglist>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b)</arglist>
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      <arglist>(const Twist &amp;a, const TwistVel &amp;b)</arglist>
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      <arglist>(const TwistVel &amp;a, const Twist &amp;b)</arglist>
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      <arglist></arglist>
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      <arglist>(TwistVel &amp;v)</arglist>
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      <arglist>(double eps=epsilon)</arglist>
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      <arglist>(const Vector &amp;arg)</arglist>
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      <arglist>(const Vector &amp;arg)</arglist>
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      <arglist>(int index)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Frame &amp;F_someframe_XY, const Vector2 &amp;v_XY)</arglist>
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      <arglist>(const Vector2 &amp;v)</arglist>
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      <arglist>(const Vector2 &amp;v)</arglist>
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      <arglist>(const Vector2 &amp;v)</arglist>
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      <arglist>(double)</arglist>
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      <arglist>(double)</arglist>
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      <arglist>[3]</arglist>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;a, const Vector &amp;b, double eps)</arglist>
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      <arglist></arglist>
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      <arglist>(const Vector &amp;a, const Vector &amp;b)</arglist>
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      <arglist>(double lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;arg)</arglist>
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      <arglist>(const Vector &amp;lhs, double rhs)</arglist>
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      <arglist>(const Vector &amp;a, const Vector &amp;b)</arglist>
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      <arglist></arglist>
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      <arglist>(Vector &amp;v)</arglist>
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      <arglist>(double eps=epsilon)</arglist>
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      <name>operator=</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a2c95e2dcd894593c8ada80d82002cd63</anchor>
      <arglist>(const Vector2 &amp;arg)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>operator[]</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a3734a36ad91a26249178b6524fcf823f</anchor>
      <arglist>(int index) const</arglist>
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    <member kind="function">
      <type>double &amp;</type>
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      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a6730420b6a720acf420af6fa43e09b0b</anchor>
      <arglist>(int index)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>ReverseSign</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a17a8dca236c36d4439e4ac23e44d1267</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Set3DPlane</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>ae78a8356c4eeaa405467305a663f8c58</anchor>
      <arglist>(const Frame &amp;F_someframe_XY, const Vector &amp;v_someframe)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Set3DXY</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a4afdc0ed3f56cb909bfadb8aedfce821</anchor>
      <arglist>(const Vector &amp;v)</arglist>
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      <name>Set3DYZ</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a8e6163f1b083033a7811e6f91ac48231</anchor>
      <arglist>(const Vector &amp;v)</arglist>
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      <type>void</type>
      <name>Set3DZX</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a2ab51d98ce92821f3a14695d19eb506e</anchor>
      <arglist>(const Vector &amp;v)</arglist>
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    <member kind="function">
      <type></type>
      <name>Vector2</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a61947284267a38dcf7bec4ef2e3c27e4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>Vector2</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a3a10b552eeb77bbddd7ee91d88347be0</anchor>
      <arglist>(double x, double y)</arglist>
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    <member kind="function">
      <type></type>
      <name>Vector2</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a4d5aec0791020652d9ad88d7af9e4d49</anchor>
      <arglist>(const Vector2 &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>x</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a2a764bf9b8a955f73b2ab4fe9afb73ea</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>x</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>af8206f6ac8b066274b8c6bb493be462e</anchor>
      <arglist>(double)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>y</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>ae294c39e8513564475e25364fa5e73a2</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>y</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>ab0416b9804fdb30ebd93f60e432fccdc</anchor>
      <arglist>(double)</arglist>
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    <member kind="function" static="yes">
      <type>static Vector2</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a0674450ce292d200c8f5f42a02d8640b</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>data</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>afbc4d03121bf64ef1ba33c4dbe9a4b2e</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="friend">
      <type>friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>ac2a4e8efcac69ef3a6a040b02a7de214</anchor>
      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>friend bool</type>
      <name>operator!=</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a03fc91b62c31dc6b5c99956b8e76b62e</anchor>
      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a1ef3d0cc8e3dd6cefa95547833663ae5</anchor>
      <arglist>(const Vector2 &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>af22f271f2b701d51f44af41cbf2302d6</anchor>
      <arglist>(double lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>aa9b8ef35e3a946a280975941be5ddd6f</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>aaebb3c4810741b93b24774477e9f6df1</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a15d6c1a731e630639da3fe879b06d995</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a08a32eda7d30cd9e54881485f0c0cf6a</anchor>
      <arglist>(const Vector2 &amp;arg)</arglist>
    </member>
    <member kind="friend">
      <type>friend Vector2</type>
      <name>operator/</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a7495f460f356a1ce0578eca886d9f4a0</anchor>
      <arglist>(const Vector2 &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="friend">
      <type>friend bool</type>
      <name>operator==</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a2a345fcc6cd429f920e382803125977c</anchor>
      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b)</arglist>
    </member>
    <member kind="friend">
      <type>friend class</type>
      <name>Rotation2</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a87923ee3b2646a8c3e7afb670fffdfc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend void</type>
      <name>SetToZero</name>
      <anchorfile>classKDL_1_1Vector2.html</anchorfile>
      <anchor>a94411312136a13e94e0d4741becfca2f</anchor>
      <arglist>(Vector2 &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::VectorAcc</name>
    <filename>classKDL_1_1VectorAcc.html</filename>
    <member kind="function">
      <type>IMETHOD doubleAcc</type>
      <name>Norm</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>ac38d5fbfa4532093dc562b52acf8e287</anchor>
      <arglist>(double eps=epsilon)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorAcc &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a734056d50ab1a42d130b6ff33361f048</anchor>
      <arglist>(const VectorAcc &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorAcc &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a6a82be46f9acfb85a2a704210ff31b9a</anchor>
      <arglist>(const VectorAcc &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorAcc &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>aca3f5fd92b7e16aeeb0ed68e3d5197b9</anchor>
      <arglist>(const VectorAcc &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorAcc &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>af78c3a90f9de475c884e2a6a6484df25</anchor>
      <arglist>(const Vector &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>ReverseSign</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a84952bdaa7ceca4553998bc9d1049b7b</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>VectorAcc</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a62670785f61a910aeafe485b2c97ab92</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>VectorAcc</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a2b6c09431ee57b0b2e553e06fb7115e8</anchor>
      <arglist>(const Vector &amp;_p)</arglist>
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    <member kind="function">
      <type></type>
      <name>VectorAcc</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>aa532092c83c3fb3bb55ca152324887f6</anchor>
      <arglist>(const Vector &amp;_p, const Vector &amp;_v)</arglist>
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    <member kind="function">
      <type></type>
      <name>VectorAcc</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>ac0bf9e0b0e3d9cd57c392933dc0c9521</anchor>
      <arglist>(const Vector &amp;_p, const Vector &amp;_v, const Vector &amp;_dv)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static IMETHOD VectorAcc</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>af8d2e783edfb7c0bd1c65d4dff4d5fe0</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>Vector</type>
      <name>dv</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a6225055dc646eb6c30cc6a8a576585d2</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Vector</type>
      <name>p</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
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      <arglist></arglist>
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      <type>Vector</type>
      <name>v</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
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      <arglist></arglist>
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    <member kind="friend">
      <type>IMETHOD friend doubleAcc</type>
      <name>dot</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>aac366b7021fe4e8f119576eb00ec998b</anchor>
      <arglist>(const VectorAcc &amp;lhs, const VectorAcc &amp;rhs)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend doubleAcc</type>
      <name>dot</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a47017a542f166aa916b314ff0e86d32e</anchor>
      <arglist>(const VectorAcc &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend doubleAcc</type>
      <name>dot</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a302295196d98c011eca88ad7969fc32b</anchor>
      <arglist>(const Vector &amp;lhs, const VectorAcc &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a7929a1f429cdcb18f1bd9dbaebab8580</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2, double eps)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>aa304a5b1fa588da5f2e17dc08ca61b46</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2, double eps)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a1eb0e4f741ed26fe89c6d543c62148df</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2, double eps)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a154263bc80f0b4cd6fb4e1a9302b0e0c</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a177ac9dfc3b61a4b99a7bdaeff399ea2</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
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      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>ad92fcec589ed89a6598cf83d3bc96e6f</anchor>
      <arglist>(double r1, const VectorAcc &amp;r2)</arglist>
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    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a78e980909f239e1f86134ceee21f8098</anchor>
      <arglist>(const doubleAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a745e144ec5e387fc644c433cffcd057c</anchor>
      <arglist>(const VectorAcc &amp;r2, const doubleAcc &amp;r1)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a4227892f247309971bdb78bc180e40eb</anchor>
      <arglist>(const Rotation &amp;R, const VectorAcc &amp;x)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a2cfd0e2d4d04cc779157c0d888e64969</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a183d111871f9430ee1b7e2753ffe20bb</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a27a23fdbbabd9913f2501fead5575f7f</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>aad0799c4dab7af3f88a4e236dca1d700</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a94e367a93e8f2745abe96f55734e34b8</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a2a3f5867d1c9ee9804cb243815c91803</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a6bfc073458cded5a324205be4603c750</anchor>
      <arglist>(const VectorAcc &amp;r)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator/</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>a29fd501dc8df9c3790ec370ddb76ecc6</anchor>
      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorAcc</type>
      <name>operator/</name>
      <anchorfile>classKDL_1_1VectorAcc.html</anchorfile>
      <anchor>abbb0360076efe556997f4a1a31443b5d</anchor>
      <arglist>(const VectorAcc &amp;r2, const doubleAcc &amp;r1)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::VectorVel</name>
    <filename>classKDL_1_1VectorVel.html</filename>
    <member kind="function">
      <type>Vector</type>
      <name>deriv</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a404a334b59064a8f0fac7ed552d51749</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>Norm</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ab373cf3392d99d471fad992b4d0db529</anchor>
      <arglist>(double eps=epsilon) const</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel &amp;</type>
      <name>operator+=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>afa59012d44981c5d76f05ea8bed3ffa9</anchor>
      <arglist>(const VectorVel &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel &amp;</type>
      <name>operator-=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ac7047032ef5e65789252fab619e8f760</anchor>
      <arglist>(const VectorVel &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a80167d51e0e21173ea0e8d957eaabd72</anchor>
      <arglist>(const VectorVel &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel &amp;</type>
      <name>operator=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>aa05a92ea1d8d0fcf17d90a11adfe0f61</anchor>
      <arglist>(const Vector &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD void</type>
      <name>ReverseSign</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>aee631b59b42bf30d9eed5f16a2ff1ef8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Vector</type>
      <name>value</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a182db5e443a174a33148057cd855aa36</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VectorVel</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ac720b1b6e50c6e4c9854c392fad0600b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VectorVel</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a11cba08e19ecc4af114fec5ac610a8a0</anchor>
      <arglist>(const Vector &amp;_p, const Vector &amp;_v)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VectorVel</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a4b1bb40b55ad949768d5db8d4b556cbf</anchor>
      <arglist>(const Vector &amp;_p)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static IMETHOD VectorVel</type>
      <name>Zero</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a099bf8c8e23409321451ac3498d5dce1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>p</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a34b253c5a762fe8c4f8c8718578156d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vector</type>
      <name>v</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a3c4ed9d12d84f39153b5be985436214e</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend doubleVel</type>
      <name>dot</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>aac7ded4f79eb2f43788e0a707bf8271a</anchor>
      <arglist>(const VectorVel &amp;lhs, const VectorVel &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend doubleVel</type>
      <name>dot</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a0faf5164fc7d1802e4ed01ea3bc43834</anchor>
      <arglist>(const VectorVel &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend doubleVel</type>
      <name>dot</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a511b2fc09821c5a600b66d7a277ebc3c</anchor>
      <arglist>(const Vector &amp;lhs, const VectorVel &amp;rhs)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ac2d29fa02f737b5eb162732ad439ab41</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a25154bcbceb4959e0447c2ebc348cd2f</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>Equal</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a83b99b7463074151150c2fe7841f230a</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2, double eps)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator!=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>aa6780c8c639ab862f3a973dfde9e0dfb</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator!=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a920407d7dff4697f432f01e662393473</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator!=</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>af9b7d0672a4475ead08faf1853ad6c3d</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ab759a7e3da18091b524ca0df43f8768e</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a914e77a41e4ac211cfc77e2106719bcf</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>afe38d956aa708016ff9356f221168a7e</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ae38377c45a56ccfb50d1bb601cb4482e</anchor>
      <arglist>(const VectorVel &amp;r1, double r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a1a2a1dfc6e809b33fa32427dda794a53</anchor>
      <arglist>(double r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a888c4d3659c26fed20e6ec84ec32aedb</anchor>
      <arglist>(const doubleVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a9427c0818d105b3ace7fad271c98713c</anchor>
      <arglist>(const VectorVel &amp;r2, const doubleVel &amp;r1)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator*</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a3a0bb345cfd27a7658a05b614ab96c8e</anchor>
      <arglist>(const Rotation &amp;R, const VectorVel &amp;x)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a11fd8083f5afca4f0ba16105d5fb26f7</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a716d73bde25265c248277d6a222a1d9d</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator+</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a8e02c3ca515642cb2e25028f465a7fed</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a41fa5e2c9b206bbd1493b56dfa0f4a42</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>aab7667649bcb71552659da1da377c73c</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a89c57c1b72490b003e7643286de4828d</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator-</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>af19fde54348ebbc99a66986cd5afd85a</anchor>
      <arglist>(const VectorVel &amp;r)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator/</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a5262adc24e3ef49d881dbb7295827489</anchor>
      <arglist>(const VectorVel &amp;r1, double r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend VectorVel</type>
      <name>operator/</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a62e520f0c36afdd146ab108a1d0596fd</anchor>
      <arglist>(const VectorVel &amp;r2, const doubleVel &amp;r1)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator==</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a930479209bf7f078dfa2228710bbcfe6</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator==</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>ab3ba094007e3d967c5bb6d1bc317dead</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend bool</type>
      <name>operator==</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>aaf9a36916c9dbcd765e45e99591f8ca7</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="friend">
      <type>IMETHOD friend void</type>
      <name>SetToZero</name>
      <anchorfile>classKDL_1_1VectorVel.html</anchorfile>
      <anchor>a14b2b4a73f0e17a6940d7cdb8f8b1d39</anchor>
      <arglist>(VectorVel &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::VelocityProfile</name>
    <filename>classKDL_1_1VelocityProfile.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>af1eecd45f9bfb33799d45d011498712d</anchor>
      <arglist>(double time) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual VelocityProfile *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>a18a9e02a402fadc76c35394d931849d1</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>a66e7eafa2706960b3ef27bcdbf76a406</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>aeb6fe08bb393ec44950d0f20336f04ba</anchor>
      <arglist>(double time) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>SetProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>a0f32a33e30181d066e737dcdd258c1dd</anchor>
      <arglist>(double pos1, double pos2)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>a6015d8799098d04f0a9f0a8caef654ff</anchor>
      <arglist>(double pos1, double pos2, double duration)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>af308d831e1a5402ec4d01231a0d02c87</anchor>
      <arglist>(double time) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>ad64ebff8851535f52c72811d1cc9db72</anchor>
      <arglist>(std::ostream &amp;os) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>ac7716def2a3af9075d0a944dafea923a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static VelocityProfile *</type>
      <name>Read</name>
      <anchorfile>classKDL_1_1VelocityProfile.html</anchorfile>
      <anchor>a49092bd847e26705eb22715f68ec58be</anchor>
      <arglist>(std::istream &amp;is)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::VelocityProfile_Dirac</name>
    <filename>classKDL_1_1VelocityProfile__Dirac.html</filename>
    <base>KDL::VelocityProfile</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a24c1061c5e4f18a67601fe06958182e6</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual VelocityProfile *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>ac6efce021aeba2e949d2d4b034c30b18</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a11b61ed5f378b85c014cf8689fbcf155</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>ac5c98c8a522368eadcaee5812766c0b6</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a09218f2529fb3f2c5f548d75d1a953f6</anchor>
      <arglist>(double pos1, double pos2)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a9f8f2ef58f16338b31db678f8b5738e5</anchor>
      <arglist>(double pos1, double pos2, double duration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a6a1df2885014017cd68fe9a959ef84ee</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a70f87853fea4322eb980ae4bd9d49d8d</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityProfile_Dirac</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>aba8fb5c8ed76bfd812f0cc47f19418ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>p1</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>af98861202efe290f7e946288d4cee17e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>p2</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>a0c7dfbcc7b7ad5c0492e9c34ff78ac3f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>t</name>
      <anchorfile>classKDL_1_1VelocityProfile__Dirac.html</anchorfile>
      <anchor>ad21ebddbd18b5c19a5498d911405f608</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>KDL::VelocityProfile_Rectangular</name>
    <filename>classKDL_1_1VelocityProfile__Rectangular.html</filename>
    <base>KDL::VelocityProfile</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>ae3bcf63a5aa2fcb3e5c7348df46bb44e</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual VelocityProfile *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a1b68bfab9207f5c299267962589528b6</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a6b22ed78a35820ae9f008656f3783549</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a99de5d2f09dabc8a39ca2172cf1ea5cd</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetMax</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a0be44624f019b908af7c4fda5d763e7a</anchor>
      <arglist>(double _maxvel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>ab8124614a7e2856484555d3b9f5de57e</anchor>
      <arglist>(double pos1, double pos2)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>aab071f66195c91730fca12e62c880db0</anchor>
      <arglist>(double pos1, double pos2, double duration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a0ed4c236eaded23cbdb0e765e0fc48b7</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VelocityProfile_Rectangular</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>aab80774ac20c62d63e42ba624e14540b</anchor>
      <arglist>(double _maxvel=0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>aa2655930f148ff63e7f7737a29a9ed88</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityProfile_Rectangular</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a69cba13264c2e8acb0f3f5a04e8e96d6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>maxvel</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a60862551afe38b9085015359c31ffc90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>d</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>p</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>a7609f466d241a04c5c39583fa94480bc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>v</name>
      <anchorfile>classKDL_1_1VelocityProfile__Rectangular.html</anchorfile>
      <anchor>ac4885e2d691a23f32646dcc7a1ef2bb8</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::VelocityProfile_Spline</name>
    <filename>classKDL_1_1VelocityProfile__Spline.html</filename>
    <base>KDL::VelocityProfile</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a3d16880a8c6207a6e09a218a928aae01</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual VelocityProfile *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a6a8ce5389631e35ab377b7056e8ee565</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a90b9d2a71c2ea13ed24adcdd86de0ec4</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a959b823b058d1f88c4604a7648773f7a</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a07ca00b587ed67a0433a1244392ffdf4</anchor>
      <arglist>(double pos1, double pos2)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a5e80a2b0fece796615f611f1a229a187</anchor>
      <arglist>(double pos1, double pos2, double duration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>acd80fc84a4178a09d242e87ebf51a201</anchor>
      <arglist>(double pos1, double vel1, double pos2, double vel2, double duration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a90d8ad7187764e192d162d10818bb416</anchor>
      <arglist>(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a6c46753f569904ab4d67ccda6b771fbc</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VelocityProfile_Spline</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a1989f5d9b0080f24ac4d727ac8b33cc8</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>VelocityProfile_Spline</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a925eb3d9bee1474879aca1a98dd555c4</anchor>
      <arglist>(const VelocityProfile_Spline &amp;p)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
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      <arglist>(std::ostream &amp;os) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityProfile_Spline</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>a0a05731657f9315c00ea6cd127c4849f</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>coeff_</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>aea4937538ff52c9dff21dbdf3dd5ab47</anchor>
      <arglist>[6]</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>duration_</name>
      <anchorfile>classKDL_1_1VelocityProfile__Spline.html</anchorfile>
      <anchor>ae81a605423b004818d8dd3987f677663</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::VelocityProfile_Trap</name>
    <filename>classKDL_1_1VelocityProfile__Trap.html</filename>
    <base>KDL::VelocityProfile</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a29320ca1378cf107d321af06451644c2</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual VelocityProfile *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a0283b75a6f458d20f2c50c1a6e311f63</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>ae940bf88396a1d3942554d34f0a95b1c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a1122c1fca4307ce6027ca7589a3dd1f3</anchor>
      <arglist>(double time) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetMax</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a48edc0f42aaf30f00c0170a7423df005</anchor>
      <arglist>(double _maxvel, double _maxacc)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>aca3df7abf8bab8c12f929222d565b859</anchor>
      <arglist>(double pos1, double pos2)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>abafbd9e83c261fb2b688e582235b8bfb</anchor>
      <arglist>(double pos1, double pos2, double newduration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileVelocity</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a2430037871ef41dc7b7059af180598a1</anchor>
      <arglist>(double pos1, double pos2, double newvelocity)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a413f4529eadf04c8c748e6e9644ccdc4</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
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      <name>VelocityProfile_Trap</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>aaa358143e388e53c3ca5798c841db72d</anchor>
      <arglist>(double _maxvel=0, double _maxacc=0)</arglist>
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      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a7aa5d88c4daeae38cfa4be22c68eda7d</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityProfile_Trap</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>afdc27db8c27e08b1fb1fb6463eee521a</anchor>
      <arglist>()</arglist>
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      <type>double</type>
      <name>a1</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a9b0a3da0460977311e236b42709defcc</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>a2</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>ae14ddbc1d3bb915dcd56b75ef788fc65</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>a3</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a494a64f5f570de60d3eff2a31581e4d7</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a196b36f99f24c6bf231f76e86c11aa82</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a9f6331c06a5f992b6215c0d44df60cb8</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a655c6a03acfcd2f68ac3bd35cb03374b</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>aefac534b34e99b3e832a2a237ca1e776</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a358d2e382c4a57051cd4bfc0cd86edf4</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a0ce9c1261bb16e0c6bd8519720186264</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a3957fbc9ec60b5074d1f01ac101103cb</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a4a078959222c7aacc1886672de1536dc</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>maxacc</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>ad17233b0b5a462ca8ea40bf9679eddd9</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>maxvel</name>
      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>abc5db357d1772338ef66208fea0fe0ad</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>aed7dfa886a56ccee6bf585efd009d801</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>ab7c8c38fbafe406c277aa302c096a846</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__Trap.html</anchorfile>
      <anchor>a44060ce7511af06e9f0ea409fe9e34e3</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>KDL::VelocityProfile_TrapHalf</name>
    <filename>classKDL_1_1VelocityProfile__TrapHalf.html</filename>
    <base>KDL::VelocityProfile</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Acc</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>addc30ac56bc603a59116aa4cc9724839</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual VelocityProfile *</type>
      <name>Clone</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a3d5cc0e2766e6f871cc8b5320a93c38d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>aea6e4832fe50a5bb020e1f4a81a5e49c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Pos</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>abeb2def5f9eea900462c511a4a8e62a0</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetMax</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a22c4b84723eadd24944e7023da2879f9</anchor>
      <arglist>(double _maxvel, double _maxacc, bool _starting)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfile</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a12a5f9a9fe83a00f71672083656c4285</anchor>
      <arglist>(double pos1, double pos2)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>SetProfileDuration</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a32e9a8cacfe90d1b230bd77d5da1ce39</anchor>
      <arglist>(double pos1, double pos2, double newduration)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>Vel</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a6d3d42064e26de5168e040f9fe1e8d98</anchor>
      <arglist>(double time) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VelocityProfile_TrapHalf</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a36939f96756f2a729464cd44a62b094e</anchor>
      <arglist>(double _maxvel=0, double _maxacc=0, bool _starting=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Write</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ae8756be3649d3b02e7bc6a8fb598107a</anchor>
      <arglist>(std::ostream &amp;os) const</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VelocityProfile_TrapHalf</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ae238049f06de4d84e8b419ed264e017f</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>PlanProfile1</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>aa91360c86b91cc3c91cc3e9f8a17fcf5</anchor>
      <arglist>(double v, double a)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>PlanProfile2</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a9fa97b0567341e26a42e18f1cfef30ac</anchor>
      <arglist>(double v, double a)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>a1</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a2ff72d0373cb883bf0161d3573d53385</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>a2</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a4215986d853f1c6d7d83f5d23b95f5b1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>a3</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>aa23d657aa6621bf272b21ff8bd0ba35a</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ab3cb6306dd4fa60828cb55fe72ddb59e</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>aac9b997992b809fdbcf025c4a891a908</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>b3</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a6aa7d63aec01ac9324a4b97910e5dc99</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a61768054e5dc2d443ae7eb04c78af7e3</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>c2</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>a7b0c10547e38f8d88e112ff04c9389c6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>c3</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ad25e912c94aa251579aa3d3b90faa7ca</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>duration</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ae39e15da90591a114402dde30bb1bd5e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>endpos</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ae576ed07d682cce111ab803a7ee3a098</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>maxacc</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>ab4daddc48c4e50c1d803990076f81fa7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>maxvel</name>
      <anchorfile>classKDL_1_1VelocityProfile__TrapHalf.html</anchorfile>
      <anchor>afad17810007ee287b9026ecb79ce06d6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <type>Rall2d&lt; double, double, double &gt;</type>
      <name>doubleAcc</name>
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      <anchor>a931155039a40a3f75d0150bed1055206</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Rall1d&lt; double &gt;</type>
      <name>doubleVel</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist></arglist>
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      <type>std::stack&lt; std::string &gt;</type>
      <name>ErrorStack</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::map&lt; std::string, Frame &gt;</type>
      <name>Frames</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a19abc72c063bbf7718e2299712003478</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::map&lt; std::string, Jacobian &gt;</type>
      <name>Jacobians</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad23eebdce1073711bb4db8f9fa568362</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::map&lt; std::string, TreeElement &gt;</type>
      <name>SegmentMap</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>TreeElement</type>
      <name>TreeElementType</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::map&lt; std::string, Twist &gt;</type>
      <name>Twists</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::vector&lt; Wrench &gt;</type>
      <name>Wrenches</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::map&lt; std::string, Wrench &gt;</type>
      <name>WrenchMap</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6461f6198aeae25076631dfd74486f8f</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
      <name>_check_istream</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af921988409536d4c97f24f6a2583ac38</anchor>
      <arglist>(std::istream &amp;is)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>_EatSpace</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a73f08c8fcb041d7ea2ba7a0b4583eaea</anchor>
      <arglist>(std::istream &amp;is, int *countp=NULL)</arglist>
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      <type>int</type>
      <name>_EatUntilEndOfComment</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30ad39870ecc36b0e592a2226e016664</anchor>
      <arglist>(std::istream &amp;is, int *countp=NULL)</arglist>
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    <member kind="function">
      <type>int</type>
      <name>_EatUntilEndOfLine</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a49b12c2b5288a2bc92c0c5eebddc9366</anchor>
      <arglist>(std::istream &amp;is, int *countp=NULL)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>abs</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>affe10f5ae1a0fdbd042580f06b703999</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>abs</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>acos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4c7942715b046bd6f4dfb8001f2beb4c</anchor>
      <arglist>(double a)</arglist>
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      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>acos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac6367033b9a758525a780a270e70a0ec</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>acos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a00fb9a1e597465cbd15c4d50961cf1ae</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a869bd80558b4be8a8481620a47883a53</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, JntArrayVel &amp;dest)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8315fb2791bd487674d77c3ad66a7135</anchor>
      <arglist>(const JntArrayVel &amp;src1, const JntArray &amp;src2, JntArrayVel &amp;dest)</arglist>
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      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac9ab98846beb21a1e6507218edda37b0</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayAcc &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6267b92f0a4a416a00a1774b5f565d5e</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArrayVel &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a576562dc10e56a5f4cd88840031b9714</anchor>
      <arglist>(const JntArrayAcc &amp;src1, const JntArray &amp;src2, JntArrayAcc &amp;dest)</arglist>
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      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af635568f6c7c9d282230d7ef6aaf2c8a</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, JntSpaceInertiaMatrix &amp;dest)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Add</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3247ff837ae01a286d6f267f3611bd78</anchor>
      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, JntArray &amp;dest)</arglist>
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    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6ac0a4190fd520636b59af8d3c002b49</anchor>
      <arglist>(const doubleVel &amp;a, const doubleVel &amp;da, double dt=1.0)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a97e670ceadfa42f7e07cb404cd345506</anchor>
      <arglist>(double a, double da, double dt)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD VectorVel</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab8f44efdaa9efac075dabe72b9b1d793</anchor>
      <arglist>(const VectorVel &amp;a, const VectorVel &amp;da, double dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD RotationVel</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aab054566b4b7c16b491d1fd24a209b8d</anchor>
      <arglist>(const RotationVel &amp;a, const VectorVel &amp;da, double dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD FrameVel</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afc209ec5b445dbeb2080f137428469d0</anchor>
      <arglist>(const FrameVel &amp;a, const TwistVel &amp;da, double dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac90990ec8c80f1c7a411052f6b1f322b</anchor>
      <arglist>(const Vector &amp;p_w_a, const Vector &amp;p_w_da, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Rotation</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2a84a971a8a4300f6b4dd97f40479029</anchor>
      <arglist>(const Rotation &amp;R_w_a, const Vector &amp;da_w, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Frame</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a57e682fab9c7fb9fe18145310d9984d5</anchor>
      <arglist>(const Frame &amp;F_w_a, const Twist &amp;da_w, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Twist</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a32903427965bec95694731b3ad6e4cb0</anchor>
      <arglist>(const Twist &amp;a, const Twist &amp;da, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Wrench</type>
      <name>addDelta</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2e1b786a27b63352f5f2c098ef26392d</anchor>
      <arglist>(const Wrench &amp;a, const Wrench &amp;da, double dt=1)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>asin</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae95d0e9fbb66c0d9800ea2d6a175526c</anchor>
      <arglist>(double a)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>asin</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa1deba048bebb8cfbc4455210bb54f61</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>asin</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a35aa2a7571735ebf167be9203277bb15</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>atan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aec69fd13a968acc96224cfc6c0d261e5</anchor>
      <arglist>(double a)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>atan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab35b68b021e044b46c03f38c4c14738f</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>atan</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a799650ee210b3260a6255f8d8f2b6b99</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a04e57bfbdbf57b878c4c54a9ceb7ebf9</anchor>
      <arglist>(double a, double b)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aeaea5afce42aa1a21d7fbce3d75969d1</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>atan2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5b66be54ba5f45a06751e99d881c53ea</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
    </member>
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      <type>bool</type>
      <name>changeBase</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa440186e9c44a521afa7e2e8816866a5</anchor>
      <arglist>(const Jacobian &amp;src1, const Rotation &amp;rot, Jacobian &amp;dest)</arglist>
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      <type>bool</type>
      <name>changeRefFrame</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a54141738e3da2da7cebea6bd59ed605b</anchor>
      <arglist>(const Jacobian &amp;src1, const Frame &amp;frame, Jacobian &amp;dest)</arglist>
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      <type>bool</type>
      <name>changeRefPoint</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae68d5c0d686d03b0a779f595083209c3</anchor>
      <arglist>(const Jacobian &amp;src1, const Vector &amp;base_AB, Jacobian &amp;dest)</arglist>
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      <type>void</type>
      <name>checkDiffs</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afa0dd1bd029ad0f2f51f07be7ba97c42</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>checkDoubleOps</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6cdf7ff2b751c04cb8c248d064cf3eff</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>checkEqual</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab7804c53df3c43b41c15ddddfc3bfa74</anchor>
      <arglist>(const T &amp;a, const T &amp;b, double eps)</arglist>
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      <type>void</type>
      <name>checkEulerZYX</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abd6725a64375d5a20e9ccdcc435f68ed</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>checkFrameOps</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac67b73fe0546b2c549678cf3b99fb390</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>checkFrameVelOps</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2baa428714b4624f647d157130ed6f82</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a887e76f013222161ad97011c29f44567</anchor>
      <arglist>(double a)</arglist>
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    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a28fb39c2d77d3050aebc60d3fcb67797</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>cos</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4f00c87082c43c31c5bbc9305d064acd</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
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      <type>double</type>
      <name>cosh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abda1794286cb009f3205067b8444ac14</anchor>
      <arglist>(double a)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>cosh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a38afce44f23b730b7d570b66b838aa68</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
    </member>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>cosh</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a872ad38e62e8f1fac77f5083ffcbb0dd</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>Chain</type>
      <name>d2</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2c919aa6e336f8a1a90cfc3dad43b1f5</anchor>
      <arglist>()</arglist>
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      <type>Chain</type>
      <name>d6</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a7085f1d08acf85c900ceb4f3e8f39ac5</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>IMETHOD doubleVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac33cd30cdcbb2a408118c7f4da33d839</anchor>
      <arglist>(const doubleVel &amp;a, const doubleVel &amp;b, double dt=1.0)</arglist>
    </member>
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      <type>double</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a46bf12853011243d224d0faf74f975f0</anchor>
      <arglist>(double a, double b, double dt)</arglist>
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      <type>IMETHOD VectorVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abcbdf134e1245fff7276c09d93bc129e</anchor>
      <arglist>(const VectorVel &amp;a, const VectorVel &amp;b, double dt=1.0)</arglist>
    </member>
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      <type>IMETHOD VectorVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af6fe4108d2d1bc8f56de6ada8b1e02a2</anchor>
      <arglist>(const RotationVel &amp;a, const RotationVel &amp;b, double dt=1.0)</arglist>
    </member>
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      <type>IMETHOD TwistVel</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4abe67e47461ea82dd1764ff915b8e5f</anchor>
      <arglist>(const FrameVel &amp;a, const FrameVel &amp;b, double dt=1.0)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a721ba3f54f506bc1004fb981a9ea7b13</anchor>
      <arglist>(const Vector &amp;p_w_a, const Vector &amp;p_w_b, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad23c4b0b7788db8ecc670b5561dbc427</anchor>
      <arglist>(const Rotation &amp;R_a_b1, const Rotation &amp;R_a_b2, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Twist</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af738311fdea560d6255894ddc0425095</anchor>
      <arglist>(const Frame &amp;F_a_b1, const Frame &amp;F_a_b2, double dt=1)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Twist</type>
      <name>diff</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <arglist>(const JntSpaceInertiaMatrix &amp;src, const double &amp;factor, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
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      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <arglist>(const VectorAcc &amp;lhs, const VectorAcc &amp;rhs)</arglist>
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      <arglist>(const FrameAcc &amp;r1, const FrameAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Frame &amp;r1, const FrameAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const FrameAcc &amp;r1, const Frame &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const TwistAcc &amp;a, const TwistAcc &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Twist &amp;a, const TwistAcc &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const TwistAcc &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const FrameVel &amp;r1, const FrameVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const Frame &amp;r1, const FrameVel &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const FrameVel &amp;r1, const Frame &amp;r2, double eps=epsilon)</arglist>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const Twist &amp;a, const TwistVel &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const TwistVel &amp;a, const Twist &amp;b, double eps=epsilon)</arglist>
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      <arglist>(const JntSpaceInertiaMatrix &amp;src1, const JntSpaceInertiaMatrix &amp;src2, double eps)</arglist>
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      <arglist>(const JntArray &amp;src1, const JntArray &amp;src2, double eps)</arglist>
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      <arglist>(const JntArrayVel &amp;src1, const JntArrayVel &amp;src2, double eps)</arglist>
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      <arglist>()</arglist>
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      <arglist>(char *buffer, int size)</arglist>
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      <type>Chain</type>
      <name>KukaLWR</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>()</arglist>
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      <name>KukaLWR_DHnew</name>
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      <arglist>()</arglist>
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      <name>KukaLWRsegment</name>
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      <arglist>()</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Eigen::MatrixXd &amp;A, const Eigen::VectorXd &amp;v, Eigen::MatrixXd &amp;L, Eigen::VectorXd &amp;D, Eigen::VectorXd &amp;vtmp, Eigen::VectorXd &amp;q)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double alfa, double a, double beta, double b)</arglist>
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      <name>LinComb</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall1d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall1d&lt; T, V, S &gt; &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall2d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall2d&lt; T, V, S &gt; &amp;b)</arglist>
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      <arglist>(double alfa, double a, double beta, double b, double &amp;result)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall1d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall1d&lt; T, V, S &gt; &amp;b, Rall1d&lt; T, V, S &gt; &amp;result)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(S alfa, const Rall2d&lt; T, V, S &gt; &amp;a, const T &amp;beta, const Rall2d&lt; T, V, S &gt; &amp;b, Rall2d&lt; T, V, S &gt; &amp;result)</arglist>
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      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a)</arglist>
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      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>log</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;arg)</arglist>
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      <name>max</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, double b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aecfc62e3d4f3d21b9752669794aac2fb</anchor>
      <arglist>(const JntArrayVel &amp;src, const double &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArrayVel &amp;src, const doubleVel &amp;factor, JntArrayVel &amp;dest)</arglist>
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      <type>void</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae7a531e845086142255090a67666ec70</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const double &amp;factor, JntSpaceInertiaMatrix &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const JntArray &amp;src, const double &amp;factor, JntArray &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a1210f7f6f4db1eee2e2c39211c7cb388</anchor>
      <arglist>(const JntSpaceInertiaMatrix &amp;src, const JntArray &amp;vec, JntArray &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab32cb0e76ccfdbc012bbdff485fa2e2c</anchor>
      <arglist>(const JntArrayAcc &amp;src, const double &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a15f89314c4b049945d7e4566b3bb1459</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleVel &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4b751d3ba37a7ca2ee37b4955b6a1b2c</anchor>
      <arglist>(const JntArrayAcc &amp;src, const doubleAcc &amp;factor, JntArrayAcc &amp;dest)</arglist>
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      <type>void</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Jacobian &amp;jac, const JntArray &amp;src, Twist &amp;dest)</arglist>
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      <type>double</type>
      <name>Norm</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double arg)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;value)</arglist>
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      <name>Norm</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;value)</arglist>
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      <type>bool</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6797c68c09dc61566d2fb2f9f4e1cdac</anchor>
      <arglist>(const FrameVel &amp;r1, const FrameVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;r1, const FrameVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;r1, const Frame &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2)</arglist>
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      <type>bool</type>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const TwistVel &amp;a, const TwistVel &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Twist &amp;r1, const TwistVel &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;y, const Rall1d&lt; T, V, S &gt; &amp;x)</arglist>
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      <type>bool</type>
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      <arglist>(const TwistVel &amp;r1, const Twist &amp;r2)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;y, const Rall2d&lt; T, V, S &gt; &amp;x)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;a, const Frame &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Vector &amp;a, const Vector &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Twist &amp;a, const Twist &amp;b)</arglist>
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      <arglist>(const Wrench &amp;a, const Wrench &amp;b)</arglist>
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      <arglist>(const Rotation &amp;a, const Rotation &amp;b)</arglist>
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      <arglist>(const Vector2 &amp;a, const Vector2 &amp;b)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;lhs, const FrameVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const FrameVel &amp;lhs, const Frame &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, const RigidBodyInertia &amp;I)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(const Frame &amp;lhs, const FrameVel &amp;rhs)</arglist>
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      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(double a, const ArticulatedBodyInertia &amp;I)</arglist>
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      <arglist>(const RigidBodyInertia &amp;I, const Twist &amp;t)</arglist>
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      <arglist>(double a, const RotationalInertia &amp;I)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <arglist>(const Frame &amp;T, const RigidBodyInertia &amp;I)</arglist>
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      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
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      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <arglist>(const ArticulatedBodyInertia &amp;I, const Twist &amp;t)</arglist>
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      <arglist>(double r1, const VectorAcc &amp;r2)</arglist>
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      <arglist>(const Rotation &amp;M, const RigidBodyInertia &amp;I)</arglist>
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      <arglist>(const VectorAcc &amp;r1, double r2)</arglist>
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      <arglist>(const Frame &amp;T, const ArticulatedBodyInertia &amp;I)</arglist>
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      <arglist>(const doubleAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
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      <arglist>(const Stiffness &amp;s, const Twist &amp;t)</arglist>
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      <arglist>(const Vector &amp;lhs, double rhs)</arglist>
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      <arglist>(const VectorAcc &amp;r2, const doubleAcc &amp;r1)</arglist>
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      <arglist>(const Rotation &amp;M, const ArticulatedBodyInertia &amp;I)</arglist>
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      <arglist>(double lhs, const Vector &amp;rhs)</arglist>
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      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
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      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5d7163c16649fa3a642aa848324fe9d4</anchor>
      <arglist>(const RotationVel &amp;r1, const RotationVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>adbe94445d0882c39d30eae3dc0cafe87</anchor>
      <arglist>(const Rotation &amp;r1, const RotationVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5da7749f16d9ee38bfd37e79a4b4d396</anchor>
      <arglist>(const RotationVel &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Rotation</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa9ad476d005ede2a464b048a9b048a96</anchor>
      <arglist>(const Rotation &amp;lhs, const Rotation &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>afc6f0d30c6f9d3e92c554585907be39b</anchor>
      <arglist>(const RotationAcc &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30128ae85ca846c146f1df52ffd18aa8</anchor>
      <arglist>(const Rotation &amp;r1, const RotationAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RotationAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58fadb516d19574d7ac0cb40d1022f3e</anchor>
      <arglist>(const RotationAcc &amp;r1, const Rotation &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae0ac1e675d2d8e40cba13ea17eb64154</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af4b20aee782ff7944820549428d994d3</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a5c7d683679ab9019a65107e128cd6b88</anchor>
      <arglist>(const Wrench &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acf526a38ef0ac580f129e95baef75930</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae46db8b8cf405b5faf1a89263296d7de</anchor>
      <arglist>(double lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac63ff44d01eb3515325a5e68632a0411</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aef301ceb31d21ec006c03b3359673b75</anchor>
      <arglist>(const Rotation &amp;R, const VectorAcc &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ade558189aadf6828c72bda912c0be10b</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae8b5701325d16dc7c9b820e1100cfb4b</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae2e894b949233d7a44ae28da39fba9b3</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>addce33b1267ae40397c0868e3494c443</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2ef790489497475f742e991ac055e870</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a99600554d49023bd93514a61abec1bb6</anchor>
      <arglist>(double r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaa72572d20b5e96b3b36b36b99467db4</anchor>
      <arglist>(const VectorVel &amp;r1, double r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abd858f51b9b11ad399be86cfc8f9e488</anchor>
      <arglist>(const doubleVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>add99195f2e34b8ba9680d64463ab237f</anchor>
      <arglist>(const VectorVel &amp;r2, const doubleVel &amp;r1)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac87ef443bc4a8a8fcf86551a10b1dbef</anchor>
      <arglist>(const Rotation &amp;R, const VectorVel &amp;x)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f3979c3069f3d6558fc902a86c380d5</anchor>
      <arglist>(const Twist &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8450a02abf20b80c80e444d29ab5304d</anchor>
      <arglist>(const FrameAcc &amp;lhs, const FrameAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a74682143c6c66632244b5e67cccce8c0</anchor>
      <arglist>(double lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ad315c19f6564614fd6fe4350fa04885b</anchor>
      <arglist>(const FrameAcc &amp;lhs, const Frame &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>FrameAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aec4b7d8ac5c54d65fa070bd6a189fe26</anchor>
      <arglist>(const Frame &amp;lhs, const FrameAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab85c524cf4f6bd5364363dad1ef08ae5</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aafe32822da77309b7f5c0260aa926886</anchor>
      <arglist>(const Twist &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Frame</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af3abf2430995a3cc3c688884e9efe156</anchor>
      <arglist>(const Frame &amp;lhs, const Frame &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aaab7b9e81b8789337bdbb13d9fd2e4cd</anchor>
      <arglist>(const TwistAcc &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af8d405e2914bea19aecfc2aac9143375</anchor>
      <arglist>(double lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8b4f64aa851af027829c24d1d9deefd3</anchor>
      <arglist>(const TwistAcc &amp;lhs, const doubleAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a4164febadd9c9bf7a119cf4223350675</anchor>
      <arglist>(const doubleAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a72c5596a3ca250d8329e774648e9fa91</anchor>
      <arglist>(const TwistVel &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a33851c818cc9f12974f3cb29ebc74615</anchor>
      <arglist>(double lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6f74503124b79423fed9b28b20124361</anchor>
      <arglist>(const TwistVel &amp;lhs, const doubleVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a30bd9b19d131e18d55c493a26f69b6b0</anchor>
      <arglist>(const doubleVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae6a6cf702dd433fb1cd0cd462068380</anchor>
      <arglist>(const Vector2 &amp;lhs, double rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a2152fae33fee05d9bf23e9aaf5dfbe91</anchor>
      <arglist>(double lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Rotation2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae4ddd74aa0ffa153735c9603b51ea06f</anchor>
      <arglist>(const Rotation2 &amp;lhs, const Rotation2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Frame2</type>
      <name>operator*</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a00f0baabdb899f295fb9611e0b724560</anchor>
      <arglist>(const Frame2 &amp;lhs, const Frame2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>acab79938e3027d6510cfa4a90720c95f</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a37489ad00a48b8b652eadc65bebd5ad3</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ab56265b003752215f2d94c00493e4c21</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>RigidBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9a48ecd0ba02c61eb30f97b3606a1d10</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3bc91024ee0a8b23fa94b74fa7c952f0</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>RotationalInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>abe6b8cfeb5c5230d0641585798889a77</anchor>
      <arglist>(const RotationalInertia &amp;Ia, const RotationalInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>af14129ba902ec31f692ae97e29c033ef</anchor>
      <arglist>(const RigidBodyInertia &amp;Ia, const ArticulatedBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aae21b94ac92952d16ee509a5a4b8c449</anchor>
      <arglist>(const Vector &amp;lhs, const Vector &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>Stiffness</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9c96e2afbe60a8f62893843c08895a35</anchor>
      <arglist>(const Stiffness &amp;s1, const Stiffness &amp;s2)</arglist>
    </member>
    <member kind="function">
      <type>ArticulatedBodyInertia</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a698a887bd036f999ead109cb2f29c5e5</anchor>
      <arglist>(const ArticulatedBodyInertia &amp;Ia, const RigidBodyInertia &amp;Ib)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac658376e450f37a620b95f4051358fce</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;lhs, const Rall1d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac1f7e351c8fd233adb3ab3a89d344807</anchor>
      <arglist>(const VectorVel &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a6a8432d8241db0cbee8a256f4b59ef46</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;lhs, const Rall2d&lt; T, V, S &gt; &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a58aec482512a0c59b6c91e937854ca65</anchor>
      <arglist>(const VectorVel &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>Wrench</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a8e7b9ed5c63404773079ae53ee00d200</anchor>
      <arglist>(const Wrench &amp;lhs, const Wrench &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ac3f53bf66c5fe04eb356b96b38e11033</anchor>
      <arglist>(S s, const Rall1d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>VectorVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a05ce61116e9eb721ff6ce1a3fbc98a43</anchor>
      <arglist>(const Vector &amp;r1, const VectorVel &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall1d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a021feb07a51ec623e769248b1c110cf9</anchor>
      <arglist>(const Rall1d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a996784b6057419f3a2a8ff6565221ce0</anchor>
      <arglist>(S s, const Rall2d&lt; T, V, S &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>INLINE Rall2d&lt; T, V, S &gt;</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aea25d0be19e8dccf456c4f8e0e1fe28f</anchor>
      <arglist>(const Rall2d&lt; T, V, S &gt; &amp;v, S s)</arglist>
    </member>
    <member kind="function">
      <type>Twist</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a3e1e5d70194d5577e7e5e7c534f9f877</anchor>
      <arglist>(const Twist &amp;lhs, const Twist &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistAcc</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>aa3ab49311febc69235cc75ad7fe81a91</anchor>
      <arglist>(const TwistAcc &amp;lhs, const TwistAcc &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>TwistVel</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a75aac327bb8398b72660f8ff603af0a7</anchor>
      <arglist>(const TwistVel &amp;lhs, const TwistVel &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>IMETHOD Vector2</type>
      <name>operator+</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>ae19bb99f118f93827bbcfd227651028f</anchor>
      <arglist>(const Vector2 &amp;lhs, const Vector2 &amp;rhs)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a782af317e6d1e7cb312b30ab60c70bd6</anchor>
      <arglist>(const VectorAcc &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a9554f1e935042c64beac3e7f945f9101</anchor>
      <arglist>(const Vector &amp;r1, const VectorAcc &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
      <anchor>a096678f980702ca962d48014abd10945</anchor>
      <arglist>(const VectorAcc &amp;r1, const Vector &amp;r2)</arglist>
    </member>
    <member kind="function">
      <type>VectorAcc</type>
      <name>operator-</name>
      <anchorfile>namespaceKDL.html</anchorfile>
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      <arglist>(std::ostream &amp;os, SegmentMap::const_iterator root)</arglist>
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      <arglist>(std::istream &amp;is, Wrench &amp;v)</arglist>
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      <arglist>(Stiffness &amp;F)</arglist>
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      <arglist>(Vector &amp;a)</arglist>
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      <arglist>(Twist &amp;a)</arglist>
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      <arglist>(Jacobian&lt; T &gt; &amp;rv)</arglist>
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      <arglist>(Stiffness &amp;F)</arglist>
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      <arglist>(double &amp;a)</arglist>
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      <arglist>(VectorVel &amp;a)</arglist>
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      <arglist>(TwistVel &amp;a)</arglist>
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      <arglist>(RotationVel &amp;R)</arglist>
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      <arglist>(FrameVel &amp;F)</arglist>
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      <arglist>(Vector &amp;a)</arglist>
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      <arglist>(Twist &amp;a)</arglist>
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      <arglist>(Wrench &amp;a)</arglist>
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      <arglist>(Rotation &amp;R)</arglist>
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      <arglist>(Frame &amp;F)</arglist>
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      <arglist>(const Vector &amp;axis_a_b)</arglist>
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      <arglist>(Rall2d&lt; T, V, S &gt; &amp;value)</arglist>
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      <arglist>(Jacobian &amp;jac)</arglist>
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      <arglist>(JntSpaceInertiaMatrix &amp;mat)</arglist>
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